Multivariable generalised predictive controller based on the Smith predictor

A multivariable model-based predictive algorithm based on the Smith predictor can be used to control open-loop stable plants. By using the Smith predictor instead of the optimal predictor, the new controller increases robustness of the multivariable generalised predictive controller while maintaining nominal performance. Treatment of the multi-delay case is straightforward and the design of filters to improve robustness is simple. To illustrate the properties of the controller a simulation case study of the control of a distillation column is presented