This paper proposes a self-tuning scheme with parameter variations derived using Quantitative Feedback Theory

�and an H-infinity

�optimization control method for a motor driving system. The self-tuning scheme can regulate and reset the parameter intervals to achieve a controller design such that the system performance accomplishes the desired system specifications. The uncertainty parameter of the motor driving system is derived using the weighting function deduced from the H-infinity algorithm and the loop-shaping method. Finally, the pre-filter can regulate the self-tuning structure with the designed controller so that the system performance matches the given specifications.

QFT, �control, robustness, self-tuning.