Youla-Kučera Parameterisation Approach to LQ Tracking and Disturbance Rejection Problem

Authors:	Čirka Ľuboš, Slovak University of Technology, Slovakia (Slovak Republic) Fikar Miroslav, Slovak University of Technology, Slovakia (Slovak Republic) Mikleš Ján, Slovak University of Technology, Slovakia (Slovak Republic)
Topic:	2.1 Control Design
Session:	Polynomial Design Methods: Theoretical Achievements
Keywords:	LQ control, parameterisation, spectral factorisation

Abstract

The contribution is focused on the design of optimal LQ (Linear Quadratic) controller when the YK Youla-Kučera controller parameterisation is used. We provide a procedure for computing a deterministic optimal SISO (single-input single-output) 2DoF controller from any stabilising 2DoF controller.