Hierarchical 2-degree-of-freedom control combining Youla-Kucera parameterization and model predictive control
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866918494492164096 |
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| author | Zhao, Zhiheng Niemann, Hans Henrik Jørgensen, John Bagterp |
| author_facet | Zhao, Zhiheng Niemann, Hans Henrik Jørgensen, John Bagterp |
| contents | A hierarchical 2DOF (2-degree-of-freedom) structure combining Youla-Kucera (YK) parameterization and model predictive control (MPC) is presented in this paper. The YK parameterization employs the coprime factorization of the nominal system and controller, thereby introducing an auxiliary feedforward channel dedicated to system optimization and a controller parameterization channel. The feedforward channel is utilized to implement cascaded MPC for system optimization. The controller parameterization channel is utilized to achieve offset-free MPC by designing an appropriate YK parameter through the H2 optimal controller design. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_10431 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Hierarchical 2-degree-of-freedom control combining Youla-Kucera parameterization and model predictive control Zhao, Zhiheng Niemann, Hans Henrik Jørgensen, John Bagterp Systems and Control Optimization and Control 93B36, 93B45, 93B52 A hierarchical 2DOF (2-degree-of-freedom) structure combining Youla-Kucera (YK) parameterization and model predictive control (MPC) is presented in this paper. The YK parameterization employs the coprime factorization of the nominal system and controller, thereby introducing an auxiliary feedforward channel dedicated to system optimization and a controller parameterization channel. The feedforward channel is utilized to implement cascaded MPC for system optimization. The controller parameterization channel is utilized to achieve offset-free MPC by designing an appropriate YK parameter through the H2 optimal controller design. |
| title | Hierarchical 2-degree-of-freedom control combining Youla-Kucera parameterization and model predictive control |
| topic | Systems and Control Optimization and Control 93B36, 93B45, 93B52 |
| url | https://arxiv.org/abs/2605.10431 |