DIRECT ADAPTIVE DECOUPLING CONTROL FOR GENERAL STOCHASTIC MULTIVARIABLE SYSTEMS

A decoupling controller is presented combining the generalized minimum variance control strategy and feedforward control strategy in this paper.We also discuss how adaptive decoupling control for general stochastic multivariable systems with an arbitrary time delay structure is realized by adopting a slightly modified least-squares estimate algorithm and direct scheme.It is also proved that the adaptive algorithm proposed has global stability and convergence properties,even for unstable and/or non-minimum phase systems.