Abstract
A double-controller structure is proposed for processes with dominant time delay. It consists of two separate controllers, a set-point controller and a load controller, and a process model. With this structure, the load response of the closed-loop system is decoupled from the set-point response. The two controllers can then be separately designed to obtain good performance both in set-point tracking and in load rejection. The two controllers are taken to be PI controllers for simplicity. The double-controller scheme is insensitive to the process model and superior to the Smith predictor in presence of large process uncertainty.
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