Abstract
Abstract Multiple time-delays with adjustable gains are proposed as controllers of IMC schemes. Such a controller is composed of a finite number of time-delays which are connected in parallel. Given a random disturbance with known power spectral density, gains of the time-delays are determined so as to minimize the output variance of the system. The optimization is performed by means of orthogonal projection in a finite-dimensional space. In the case of a plant with minimum-phase, the minimum variance can be made arbitrarily small by increasing the number of time-delays.
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