This paper focuses on the problem of determining the most appropriate Two Degrees of Freedom (2DoF) control architecture, when the FeedForward (FF) action is the result of a stable model inversion procedure. The purpose is to define a control scheme with enhanced tracking performance even in the case of non minimum phase MIMO plant affected by polytopic uncertainty and with a possible non hyperbolic internal dynamics. The new proposed 2DoF architecture is given by an optimal balance of the control actions produced by FeedForward Plant Inversion (FFPI) and FeedForward Closed Loop Inversion (FFCLI). This new architecture is referred to as FeedForward Optimally Balanced Inversion (FFOBI). Robustness with respect to polytopic uncertainty is obtained using a min-max optimization approach. Numerical results show that the FFOBI improves the tracking of both FFPI and FFCLI.

当前馈 (FF) 动作是稳定模型反演过程的结果时，本文重点讨论确定最合适的两自由度 (2DoF) 控制架构的问题。目的是定义一种具有增强跟踪性能的控制方案，即使在非最小相位 MIMO 设备受多面体不确定性影响且可能具有非双曲线内部动力学的情况下也是如此。新提出的 2DoF 架构由前馈设备反演 (FFPI) 和前馈闭环反演 (FFCLI) 产生的控制动作的最佳平衡给出。这种新架构被称为前馈最优平衡反转 (FFOBI)。使用最小-最大优化方法获得关于多面体不确定性的鲁棒性。