Deterministic LQ preview tracking design

In this note the discrete-time linear quadratic tracking problem with previewed feedforward action is considered. It is assumed that the initial plant state is arbitrary and the whole reference sequence on (0, ∞) is known in advance. The controller solving the problem is in a two-degrees-of-freedom form, whose feedback part equals the solution to the standard LQ pure regulation problem whereas the feedforward part consists of an anticipative dynamic action whose calculation does not require a dynamic reference model. An example is presented to show the use of the theory