On the multivariable delay compensation

The magnitudes as well as the distribution of delays in the process transfer matrix directly affect the design of compensators for multivariable systems with time delays. Adding some extra delays to the process may improve the system performance under certain conditions. However, increasing delays to have a good response at one output may cause a corruption on the other outputs. A new simplified delay compensator that needs no addition of extra time delays is developed. Simulation experiments have shown that the new delay compensator is better than the existing two other methods when considering the responses at the outputs and the integral squared errors.