A course on MIMO time delay process control from practice

Under the perspective of a control education bridging the gap between theory and practice, this paper presents the control challenges for a MIMO time-delay process (a laboratory plant based on a heat-exchanger). Diagonal and full matrix control strategies are exposed taking into account performance limitations of feedback control and non-minimum phase plants.Then, certain implementation issues are discussed with experimental data to improve the performance; saturation effects, anti-wind up structures, linear operating ranges, decoupling benefits, or limit cycle oscillations are some of them.