Multi-Objective Complementary Control

This paper proposes a novel multi-objective control framework for linear time-invariant systems in which performance and robustness can be achieved in a complementary way instead of a trade-off. In particular, a state-space solution is first established for a new stabilizing control structure consisting of two independently designed controllers coordinated with a Youla-type operator ${\bm Q}$. It is then shown by performance analysis that these two independently designed controllers operate in a naturally complementary way for a tracking control system, due to the coordination function of ${\bm Q}$ driven by the residual signal of a Luenberger observer. Moreover, it is pointed out that ${\bm Q}$ could be further optimized with an additional gain factor to achieve improved performance, through a data-driven methodology for a measured cost function.