A generically well-posed H2 control problem for a one shot feedforward and feedback synthesis

A H2 optimization problem, generically well-posed, has to be formulated in a way that the closed-loop admits a bounded H2-norm. This step turns out non trivial when persistent exogenous signals disturb the process. One approach is to model exogenous states and then design a feedfoward compensator. However, the continuity of the solution is not guarantee especially for unstable exogenous system. This paper focuses on how to generically set a structured H2 optimization problem leading to a 2 Degree of Freedom (2DOF) regulator with a continuous criterion. In order to save synthesis step, the reference trajectory and the regulator are designed in the same stage. The full information case is considered and an algorithm is proposed. The resulting controller exploits both the system and exosystem states.