A two-degree-of-freedom ℋ_∞ control design method for robust model matching

We propose an ℋ_∞ controller design method which achieves a closed-loop transfer function equal or otherwise sensibly close to a desired transfer function, viz. a model reference design. The proposed controller design method inherits the model reference feature of the internal model control design method and incorporates the weighting scheme of the ℋ_∞ loop-shaping. It utilizes Youla-Kucera parameterization in a two-degree-of-freedom scheme to achieve robust model reference and high performance design while ensuring a sensible robust stability margin, and can be readily applied to the generic class of LTI systems (SISO, MIMO, stable, unstable).