Robust feedforward design for a two-degrees of freedom controller

In this paper we address the problem of designing the feedforward block of a two degrees of freedom controller in the case of single input single output (SISO) discrete-time linear systems with model uncertainty. In this work the design of the feedforward filter is formulated as a robust model matching problem. First, a closed form solution of the optimal noncausal filter, which minimizes the worst-case model matching error for each omega is an element of [0, 2 pi], is obtained. Then, suitable rational stable approximations of the optimal solution are derived either by means of causal filters Or, when a preview of the reference signal is available, by means of noncausal FIR filters. The efficiency of the proposed method is tested on a simulated example. (c) 2007 Elsevier B.V. All rights reserved.