Variance constrained self-tuning control

A self-tuning regulator for a variance constrained optimal control problem is given. The criterion for control is to minimize the stationary variance of the output. In the cases when the regulator which gives minimum variance requires too large control signals an inequality constraint on the input variance is introduced. In practice it is easier to select a constraint on the variance of the input than to choose the relative weights in a quadratic loss function. The self-tuning regulator applies the Robbins-Monro scheme to adjust the Lagrange multiplier of the variance constrained control problem. The behaviour of the algorithm is illustrated by a simulated example. The asymptotic behaviour of the regulator is studied using a set of associated ordinary differential equations.