id: 04012441
dt: j
an: 04012441
au: Hersh, M.A.
ti: Multiloop self-tuning control: decoupling and pole assignment regulators
    for n-input n-output stochastic systems.
so: Int. J. Control 45, 33-45 (1987).
py: 1987
pu: Taylor \& Francis, London
la: EN
cc: 
ut: hybrid controller; n-input n-output systems with white noise; continuous-
    time control law; discrete-time identification algorithm; Convergence;
    strong consistency; adaptive control law; decoupling; pole assignment
ci: 
li: doi:10.1080/00207178708933708
ab: From the author’s summary: "The behaviour of n-input n-output systems
    with white noise is considered. An adaptive controller that
    simultaneously decouples the system and assigns its closed-loop poles
    is derived. This controller is of the ’hybrid’ type and consists of
    a continuous-time control law, the parameters of which are updated
    using a discrete-time identification algorithm. Convergence and strong
    consistency results are derived for the identification algorithm and
    used to demonstrate that the adaptive control law does indeed produce a
    stable decoupled closed-loop system with correctly assigned poles." The
    derivation of the controller and the proofs are formal (with respect to
    handling white noise), and the main result - decoupling, correct pole
    assignment and stability - uses ultimate boundedness of the noise.
rv: W.Kliemann