Prompted by the desire to increase the industrial applicability range of self-tuning control, the objective of this work has been to extend the standard linear self-tuning framework to facilitate the design of self-tuning controllers for bilinear systems. Bilinear systems form a well structured class of non-linear systems within which linear systems coexist as a special subclass. They are, therefore, appropriate for modelling a wider range of processes and plant than the restrictive, yet convenient, linear model structures since such models are valid both within the linear subregion and beyond. In addition to extending the self-tuning framework for bilinear systems another significant contribution of the Thesis is the introduction of a cautious least squares estimation procedure which also enhances the existing linear self-tuning schemes.
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