Abstract
A systematic method based on the pole placement approach is proposed to design non-square multivariable internal model control systems. The control law is a kind of the classical IMC controller for square MIMO systems, but process model factorization and inversion are combined into the derivation of the approach. The control law can be extended to handle any minimum or non-minimum phase n input and m output systems. The absolute value of the implemented tuning parameters is restricted to (0,1) to guarantee internal stability of the control system. If all the parameters are set equal to one, the resulting closed-loop responses follow the conservative behaviour in simplified model predictive control. Alternatively, if the parameters are shrunk to zero, the proposed control law becomes multivariable deadbeat control.
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