Algebraic design of controllers for two-degree-of-freedom control structure

Abstract

The principal aim of this paper is to present an algebraic approach to design of single-input single-output continuous-time controllers under assumption of two-degree-offreedom (2DOF) closed-loop control system. The method of synthesis is based mainly on description of systems in the ring of proper and Hurwitz-stable rational functions (RPS), Youla-Kučera parameterization of all stabilizing controllers and divisibility conditions in RPS. One of advantages of the proposed approach is the utilization of the single tuning parameter. The work contains the computation and simulation examples which cover the selected cases of only asymptotic tracking of reference signal or also disturbance rejection for first-order and third-order controlled plants.