Anisochronic inverse-based control of time delay systems

Based on the framework of functional state space models of time delay plants two methods of controller design are presented. The first method extends the internal model control (IMC) approach toward the processes substantially influenced by any form of delay and the other provides decoupled multivariable control of a complex time delay plant. Common feature of the controllers proposed is the application of both delays and integrators in their final implementation, resulting in a better compensation for higher or infinite order process dynamics. The robustness issue is discussed and an application to laboratory-scale heating plant with considerable delay effects is included