Generalised input-output compensators for multivariable processes with time-delays

Generalized input-output compensation of MIMO (multiinput, multioutput) systems with time delays is considered. It is shown that any of the three basic features of the Smith predictor can be extended to MIMO systems in the input-output configuration. A selection scheme that does not require the inverse of the plant transfer matrix is devised for plant delays in reducing diagonal delay elements in the decoupling response bound. It is believed that the scheme simplifies implementation of delay selection procedures