A simplified approach to the design of self-tuning controllers or low-order systems is presented. The parameters of the continuous time system rather than the discrete time system are identified on-line using a recursive least-squares estimation algorithm. The estimated parameters are then used to calculate the controller parameters so that the system is forced to have a pre-specified closed-loop system performance. In some applications, adopting this approach reduces the number of parameters to be estimated. Further, the controller parameters are obtained using closed-form equations, thus avoiding the on-line solution of polynomial equations. An example is included.
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