Two-degrees of freedom feedback and feedforward optimal control of multivariable stochastic systems (Q1116938)

A system presented in a matrix fraction form with both input and output disturbances and feedback dynamics is considered. The cost function includes the usual LQG terms and some sensitivity terms. A polynomial matrix solution is given to the optimal regulator problem, which covers most of the known cases in a general scheme. When a reference input is used for the tracking problem a two-degrees of freedom controller is provided. Moreover, when the disturbance is measurable a feedforward controller can be derived. The presented polynomial matrix techniques possess several advantages from a computational point of view.