“…Other authors have suggested alternative, more advanced control methodologies for direct yaw moment control than the integrated PID and FF control structure, such as second order sliding mode control (Canale et al, 2005), internal model control (Canale et al, 2009), linear quadratic regulators (Xiong et al, 2012), model predictive controllers based on conventional and explicit formulations (Chang and Gordon, 2007;Gao et al, 2014), and optimal controllers based on H-infinity and designed using linear matrix inequalities (Fallah et al, 2013;Ahn et al, 2012). There are also limited studies assessing the relative performance of different control structures.…”