Research Output
A new multivariable generalized minimum-variance controller with pole-zero placement
  This article presents the derivation of a new robust multivariable adaptive controller, which minimizes a cost function, incorporating system input, system output, and set point. It provides an adaptive mechanism that ensures that both the closed-loop poles and zeros are placed at their prespecified positions. The proposed design overcomes the shortcomings of other pole placement designs by combining the robustness of classical control strategy of pole-zero placement with the flexibility of self-tuning generalized minimum variance control. It tracks set-point changes with the desired speed of response, penalises excessive control action, and can be applied to nonminimum phase systems. Additionally, at steady state, the controller has the ability to regulate the constant load disturbance to zero. Example simulation results using both simulated and real plant models demonstrate the effectiveness of the proposed controller.

  • Type:


  • Date:

    31 December 2004

  • Publication Status:


  • DOI:


  • ISSN:


  • Library of Congress:

    QA75 Electronic computers. Computer science

  • Dewey Decimal Classification:

    006.3 Artificial intelligence

  • Funders:

    Historic Funder (pre-Worktribe)


Zayed, A. S., Hussain, A., & Smith, L. (2004). A new multivariable generalized minimum-variance controller with pole-zero placement. Control and Intelligent Systems, 32(1), 35-44.



Multivariable self-tuning design, zero-pole placement, minimum-variance control, multivariable water bath system and non-minimum phase system.

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