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Abstract

A multivariable, multidelay compensator, capable of handling general, linear time delay problems is derived in a form applicable both in continuous and discrete time. The controller developed is shown to have the same structure as the linear-quadratic optimal feedback controller for input delays and reduces to the Smith predictor (and the analytical predictor) for the special case of a single time delay. Some examples representative of engineering practice are used to demonstrate the effectiveness of the controller.