Decoupled PID Controller Synthesis for MIMO Plants with I/O Delays

Decentralized proportional+integral+derivative (PID) controller synthesis methods are presented for closed-loop stabilization of linear time-invariant plants with two multi-input, multi-output channels subject to I/O delays (time delays in the input and/or output channels). The plant classes considered here have a finite dimensional part with at most two poles in the unstable region. The designs are reliable, where closed-loop stability is maintained with only one of the two controllers when the other controller is turned-off and taken out of service