A New Architecture for Robust Model Reference Control

A new controller configuration for Robust Model Reference Control is presented in this paper. The structure is based on a right coprime factorization of the plant and makes use of an observer-based feedback control scheme combined with a prefilter controller. It is designed first to guarantee stability robustness and some levels of performance in terms of disturbance rejection. This is done by solving a constrained H^∞optimization problem using the right coprime factorization of the plant in an active way. Secondly, the prefilter controller is designed to guarantee robust open-loop processing of the reference commands. This is done by assuming a Reference Model and by solving a Model Matching Problem.