Unified approach for minimal output dead time compensation in MIMO non-square processes

This paper presents a multivariable dead-time compensating structure for non-square systems with multiple time delays. The proposed strategy compensates the minimal output dead time and it can be used to control stable, integrating, and unstable processes. Additionally, it is shown that simple tuning rules can be used to balance a tradeoff between performance and robustness. Two simulation case studies are presented to show the good properties of the proposed approach and also to compare the obtained solutions with some recent results from the control literature.