A new internal multi-model controller for a linear process with an uncertain time delay

This document presents a new Internal Multi-Model Command controller design method for a linear system with a limited uncertain time delay. This design method is based on the use of a models collection to approximate the system functioning using Padé approximations; these models are inversed and multiplied by low pass filters in order to obtain a set of controllers to calculate the command value through a fusion procedure. These controllers are obtained by the multiplication of a low pass filters and Models inverses, in order to impose poles and zeros for the considered system and to control the robustness of the command through the filters parameters, which must confirm a compromise between stability and rapidity. In this paper the Multi-Model Command controller design method will be presented through five sections; the first one describes Internal Model Control concepts, the second one describes effects of presence of a time delay on systems dynamics, the third section describes briefly Multi-Model concepts, the fourth section presents the new Internal Multi-Model controller design Method and finally the fifth section presents the obtained results of the new controller design method application for a system with a limited uncertain time delay and the filters parameters variations effects.