Hierarchical 2-degree-of-freedom control combining Youla-Kucera parameterization and model predictive control

TL;DR

This paper introduces a hierarchical control framework that integrates Youla-Kucera parameterization with model predictive control to enhance system optimization and offset-free regulation.

Contribution

It combines YK parameterization with MPC in a hierarchical structure, enabling cascaded optimization and offset-free control design.

Findings

Implemented cascaded MPC for system optimization.

Achieved offset-free MPC through YK parameter tuning.

Utilized coprime factorization for controller design.

Abstract

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.