Control Strategies for Nonlinear Multivariable Systems with Time Delays

A new control strategy has been developed for a general class of nonlinear, multivariable systems. The control law is based on a quadratic performance index and the on-line solution of a Riccati Equation. The resulting multivariable control law is simple in form and can be interpreted as a variable gain, PI control system. The new approach has been extended to nonlinear, multivariable systems with time delays by incorporating a time delay compensation scheme which includes load estimation.