Deterministic convergence of a Clarke-Gawthrop self-tuning controller (Q1073749)

A proof of global asymptotic stability of a single input-single output deterministic self-tuning controller is given. The controller considered minimizes a quadratic cost measure of the Clarke-Gawthrop type which penalizes input and output deviations from the desired values as well as excessive control action. The parameter estimation scheme employs a variable forgetting factor. It is established that the output error converges to zero, even for nonminimum phase systems, for appropriate cost functions.