In this paper, the Virtual Reference Feedback Tuning (VRFT) is applied in a Two Degrees of Freedom Structure with feedforward path. It is shown that this framework can be applied while preserving the decoupling between the reference tracking response and the disturbance rejection, which is a characteristic of this controller structure, while the design task for both controllers is kept independent. It is applied to a pH neutralization plant in a bench scale for both simulation and in situ.
