Active coprime factorization for 2-DOF control configuration

In this paper we present a new 2-DOF control configuration based on a right coprime factorization of the plant and the usage of the partial state as controlled variable. The presented approach makes use of an observer-based feedback control scheme which is designed first to guarantee some levels of stability robustness. This is done by solving a constrained H_∞ optimization problem using the right coprime factorization of the plant in an active way. Then, a prefilter controller is computed to guarantee robust open-loop processing of the reference commands. This is done by assuming a Reference Model and by solving a Model Matching Problem imposed on the pretilter controller.