Abstract
This paper proposes a modified version of pole assignment self-tuners for linear time-invariant systems subjected to unknown constant disturbances. It is shown that this version also has the local convergence property established by Goodwin and Sin(1981, 1984) which was developed for linear systems with no disturbances. Utilizing this property, an error elimination algorithm is developed for step references. The performance of this algorithm is demonstrated through a simulation and the result is compared with that of a conventional pole assignment self-tuner using an additional integral action.
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