Continuous-time generalized minimum variance control with double controller

This research aims at the proposal and the consideration of the design method that makes Continuous-time Generalized Minimum Variance Control (CGMVC) two degree of freedom system. Because CGMVC is one degree of freedom system, the setpoint response and the disturbance rejection cannot be optimized at the same time. Then, double controller structure is used for CGMVC. Double controller is the method where two degree of freedom system can be achieved by using the structure of Smith predictor. As a result, the setpoint response and the disturbance rejection can be independently designed. The effectiveness of the double controller is shown by the numerical example.