A hierarchical 2DOF (2-degree-of-freedom) structure combining Youla-Kucera (YK) parameterization and model predictive control (MPC) is presented in this paper. The YK parameterization employs the coprime factorization of the nominal system and controller, thereby introducing an auxiliary feedforward channel dedicated to system optimization and a controller parameterization channel. The feedforward channel is utilized to implement cascaded MPC for system optimization. The controller parameterization channel is utilized to achieve offset-free MPC by designing an appropriate YK parameter through the H2 optimal controller design.
@article{arxiv.2605.10431,
title = {Hierarchical 2-degree-of-freedom control combining Youla-Kucera parameterization and model predictive control},
author = {Zhiheng Zhao and Hans Henrik Niemann and John Bagterp Jørgensen},
journal= {arXiv preprint arXiv:2605.10431},
year = {2026}
}
Comments
7 pages, 4 figures, accepted for Europan Control Conference 2026 (ECC 2026)