@PHDTHESIS\{IMM1985-02765,
    author       = "N. K. Poulsen",
    title        = "Robust Self Tuning Controllers",
    year         = "1985",
    pages        = "237",
    school       = "Institute of Mathematical Statistics and Operations Research (IMSOR), The Technical University of Denmark",
    address      = "",
    type         = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/2765-full.html",
    abstract     = "The present thesis concerns robustness properties of adaptive controllers. It is addressed to methods for robustifying self tuning controllers with respect to abrupt changes in the plant parameters. In the thesis an algorithm for estimating abruptly changing parameters is presented. The estimator has several operation modes and a detector for controlling the mode. A special self tuning controller has been developed to regulate plant with changing time delay."
}