Multivariable self-tuning control via the right interactor matrix
Christos A. Tsiligiannis, Spyros A. Svoronos · IEEE Transactions on Automatic Control · 1986
The right interactor matrix can be used in the design of multivariable adaptive controllers based in many cases on minimal a priori plant knowledge. A self-tuning controller based on a quadratic performance measure is developed and its deterministic convergence is established.