Given a discrete plant with the transfer function: Y : K G(:) = ( ) = 2 U(:) : + 0,: + 02 It is required to design a self tuning regulator (STR) such that the output of the plant follows the output of the reference model: Y," : 0.2 Gas): ( )2, UC(:) : l.2:+0.4 1 Applying the procedure to design self tuning regulators, and choosing the Ao(q) = q+0.5, after some mathematical manipulation, the Diophantine equation is: 2 Applying the procedure to design self tuning regulators, and choosing the A003) = q+0.5, the polynomial T(q) is: TO?) : tog + t1 in which re and n are: 3 Applying the procedure to design self tuning regulators, and choosing the Ao(q) = q+0.5, the control signal can be calculated by using the formula: 4 Applying the procedure to design self tuning regulators, and choosing the Au(q) = q+0.5, the polynomial R(q) is: ROI) =roq + 1'i in which re and r: are: 5 Applying the procedure to design self tuning regulators, and choosing the Ao(q) = q+0.5, the polynomial S(q) is: 3(9) = 309 + 51 in which so and 31 are: 6 Applying the procedure to design self tuning regulators, with the parameter vector 6 2 [al 4512 KIT the regression vector is