An approach to decentralized adaptive control

The paper presents a way of control of decentralized two inputs two outputs (TITO) systems. The base of the approach is usage of the set of one-dimensional self-tuning controllers wiyh reduced orders, being tuned simultaneously, in contrast to methods using relays in feedback. A method of the recursive least squares with directional forgetting factor applied to the continuous-time system is used as the identification algorithm for the self-tuning controllers. Itobtains data using the differential filters. verification was done in MATLAB-SIMULINK on the systems with "P" and "V" structures. two methods of tuning the controllers were used: the suboptimal linear quadratic method, and the dynamics inversion method. This approach give good results, and enables to use arbitary method of tuning the controllers, in particular, to apply the approaches of control of SISO systems, which are quite common for the multi-variable systems.