A Multivariable Robust Self-Tuning Controller with Feedforward

In this paper, a multivariable robust self-tuning controller with feedforward is presented. The con-troller can ensure the stability of the adaptive systems affected by measurable disturbances and bounded distur-bances. When it uses low order model to control the high order systems with unknown parameters. It can effec-tively compensate the measurable disturbance both dynamically and at static state in presence of the unmodelled dy-namics between measurable disturbances and system outputs. It can minimize the effect of the bounded disturbance on system outputs in the presence of bounded disturbances. The simulation results for robust adaptive feedforward control of an intermittent afterheat furance is also given in this paper.