A method of designing internal model PID controller for multivariable time-delay process

Aiming at the two-input two-output processes with time delays which are often encountered in the industry areas, a new method of decoupling internal model control (IMC) is proposed in this paper. With treating the whole feedback block as a generalized process, the system outputs decoupling can be realized completely. At the same time, through the selection of parameters of the additional filter in IMC-PID controller, the errors, which caused by using Mclaurin series approximating, can be weakened. So it makes the controller have retained the advantages of IMC controller more. The simulation results show that this method has a greater advantage.