Fully Parameterized Youla Parameter Design Method in GIMC Structure Using Frequency Responses

The GIMC structure is known as one of robust control structures for plants with perturbations and modeling errors. The GIMC structure consists of a plant, a controller and a Youla parameter which generates a compensation signal for plants with perturbations and modeling errors. The model-based design of the Youla parameter generates a high-order controller since the generalized plant for controller design is a high-order system. This paper proposes the low-order design method of a Youla parameter based on frequency responses of the plant.