Multivariable controller design for linear systems having multiple time delays

Abstract

Abstract A multivariable, multidelay compensator, capable of handling general, linear time delay problems is derived in a form applicable both in continuous and discrete time. The controller developed is shown to have the same structure as the linear‐quadratic optimal feedback controller for input delays and reduces to the Smith predictor (and the analytical predictor) for the special case of a single time delay. Some examples representative of engineering practice are used to demonstrate the effectiveness of the controller.