Robust CRONE control of non square multivariable system with time delay

An extension to mxn multivariable (non-square multivariable) plants with time-delay of the CRONE control system design is presented. To avoid difficult design and implementation, this paper proposes the design of a robust decentralized controller based on the use of the block relative gain (BRG) for the pairing of the manipulated inputs and controlled outputs. The main advantage of the proposed methodology is to simplify the design of the controller by transformed the model of the system into a simplified model.