Direct data-driven control approach of reference shaping for two degree of freedom control

In this study, we propose a novel data-driven approach for control of two degrees freedom systems. The proposed method uses one-shot experimental data to derive the reference governor improving performance. consists feedback-feedforward controller, desired transfer function, and virtual feedforward controller. Virtual controller can be obtained using such as ERIT, FRIT, VRFT. Since model is not required in our method, cost related modelling reduced. Numerical simulations were used validate method. Verification results demonstrate that response was achieved by shaping alone, with feedback controllers requiring any updates. realize performance cases where plant non-minimum-phase system.