Decoupling multivariable self-tuning controller for varying time delays

An implicit MIMO self-tuning controller is proposed for processes with unknown or varying time delays. The algorithm presented is designed to cope with variations in the time delays associated with both the control input and the measurable disturbance signal. The controller combines the classical control strategy of pole assignment with the optimal approach of self-tuning control and realises the decoupling of the control loops dynamically as well as in the steady state. The advantages of the new MIMO algorithm are illustrated with two examples.