Abstract
This paper describes a new multivariable self-tuning controller which is able to handle the system with different time delays between each of the input-output pairs, and deal with the system with unknown or varying time delays. The proposed controller not only moves the closedloop-system poles to the prespecified locations but also decouples the multivariable system. It. can track time varying reference signals and eliminate tracking errors. In addition an implicit algorithm is proposed under certain conditions. The controller is demonstrated using a concentration-flow process, a paper machine head box and an unstable and nonminimum phase system having different time delays.
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