Hierarchical 2-degree-of-freedom control combining Youla-Kucera parameterization and model predictive control
This work addresses the need for integrated optimization and offset-free control in complex systems, but the contribution appears incremental as it combines existing methods without demonstrating substantial performance gains.
The paper presents a hierarchical 2-degree-of-freedom control structure that combines Youla-Kucera parameterization with model predictive control to achieve system optimization and offset-free control. The approach uses coprime factorization to introduce auxiliary channels for cascaded MPC and H2 optimal controller design.
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.