Limited-complexity controller tuning: A set membership data-driven approach

A Youla–Kucera formulation of the controller design from data problem

“…In this sense, in [7] a set of conditions are established to define the behaviors that the closedloop can reach, in order to select an achievable reference model. An approach to automatically select the basis functions that allow to achieve a requested closed-loop behavior is proposed in [8], while [9] proposes a two degrees of freedom parametrization to better approximate the sensitivity function and the input-output transfer function.…”