A self‐tuning controller for mimo non‐linear systems

Abstract

Abstract A new self‐tuning control (STC) strategy for non‐linear, multi‐input/multi‐output control problems is proposed. This strategy is applicable to a broad class of non‐linear systems, which can include any nonlinear functions of the old inputs and outputs as well as the products of these functions and any powers of the most recent inputs. Simulation results for a two‐link robot manipulator demonstrate that the new non‐linear STC strategy provides significant improvement over conventional STCs based on linear models.