2-DOF Control Configuration Applied to 1992 ACC Benchmark Problem

The 2-DOF Observer-Controller configuration is based on a right coprime factorization of the plant and makes use of an observer-based feedback control scheme combined with a prefilter controller. A two-step design procedure is accomplished: first, we can design to guarantee stability robustness and some levels of performance in terms of disturbance rejection; second, we can design the prefilter controller to guarantee open-loop processing of the reference commands. The first step is carried out by solving a constrained H_infin optimization problem using the right coprime factorization of the plant in an active way. The second step is done by assuming a Reference Model and by solving a Model Matching Problem. The design procedure is exemplified by means of the 1992 ACC Benchmark Problem.