New controller architecture based on Dual Youla parameterization

A new feedback controller architecture is proposed based on Dual Youla Parameterization. The main feature of the controller architecture is that command tracking performance and external disturbance rejection may be done separately. First, a nominal controller can be considered for external disturbance rejection. Secondly, according to the left coprime factorization of the nominal controller, a dual Youla parameter can be designed to find an appropriate plant to guarantee the command tracking performance.