State-space self-tuning control with application to end milling

An algorithm for self-tuning control of an immeasurable physical state of linear system is introduced. The control objective is specified by time-varying external reference signals. The suggested algorithm can be considered as a concatenation of the Recursive Prediction Error (RPE) method for joint state and parameter estimation of state innovations model and state feedback control law with pole-zero placement. The practical usefulness of the algorithm is demonstrated by application to surface accuracy control in end milling process.