Lots of self-tuning control schemes have been proposed for unknown parameter systems. As one of them, a self-tuning pole-assignment scheme has been widely used for unknown time delay systems. However, these methods need to solve the so-called Diophantine equation to find control parameters. This is computationally easy for a single-input single-output (SISO) low order system, but requires much more computing time in the case of a high order system or a multi-input multi-output (MIMO) system. In this paper, a simple scheme for designing self-tuning controllers is presented, which can take account of the stability margin and control performance without solving the Diophantine equation. Furthermore, in order to investigate the effectiveness of the proposed scheme, it is applied to a pneumatic servo system.
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