Abstract
It is well-known that the self-tuning pole-assignment controller originally proposed by Wellstead, et al. is useful for nonminimum-phase and/or unknown time-delay systems. However, when a internal model is inserted to remove the influence of disturbances and guarantee the robust tracking to the reference signal, the variance of the output signal may be enlarged. Then, we propose a design scheme of minimum variance self-tuning pole-assignment controllers with an integrator as an internal model in this paper.