The unitary interactor matrix and its estimation using closed-loop data

This paper is concerned with the factorization and estimation of the unitary interactor matrix or the timedelay matrix of multivariable systems. The important properties of the unitary interactor matrix for minimum variance control are discussed. An algorithm for factorization of the unitary interactor matrix from the Markov parameters is introduced. A method for direct estimation of the interactor matrix from closed-loop data is proposed. The proposed algorithm is evaluated by application to a simulated example, pilot-scale experiment and actual industrial data.