FTC Configurations for Nonlinear Systems
Youla parametrization plays an essential role in analyzing and optimizing control system performance for LTI systems [139, 170]. Numerous controller architectures, developed from Youla parametrization, have been proposed over the past decades [129, 171, 34]. In recent years, some researchers have made the effort to generalize Youla parametrization to nonlinear systems with the aid of nonlinear factorization techniques [130, 104, 136, 105, 24].
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