A new controller parametrization of multivariable system with input delays

In this paper, it is proposed a design methodology for MIMO input delayed systems satisfying the mixed sensitivity specifications, in which the controller is designed basically in terms of the controller parametrization. One key point is that, it provides a graphical design tool that gives information relative to the range of possible solutions, stability margin and system performance. The other relevant feature is that, since it renders a controller with free parameters tuneable on line, the procedure is of practical use.