Robust decoupling control for multivariable process with time delays

Based on internal model control theory, with two-degree-of-freedom structure for multivariable processes with time delay, a new analytical design method of decoupling controller matrix is proposed. It can realize the complete decoupling for the nominal response of system outputs. The two controller matrix were designed using the method of inserting compensated terms, and the setpoint response and the load disturbance response can be separately regulated and optimized on line. Meanwhile, the control system nominal performance and robust stability were analyzed in the presence of the process multiplicative uncertainty. Finally, simulation example demonstrates the validity of the proposed control scheme.