A hierarchical 2DOF controller uses Youla-Kucera parameterization to enable cascaded MPC in a feedforward channel for system optimization and an H2-optimal YK parameter in the feedback channel for offset-free performance.
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Hierarchical 2-degree-of-freedom control combining Youla-Kucera parameterization and model predictive control
A hierarchical 2DOF controller uses Youla-Kucera parameterization to enable cascaded MPC in a feedforward channel for system optimization and an H2-optimal YK parameter in the feedback channel for offset-free performance.