B. A. Ogunnaike is on leave from the Department of Chemical Engineering, University of Lagos, Lagos, Nigeria.
Multivariable controller design for linear systems having multiple time delays
Article first published online: 17 JUN 2004
Copyright © 1979 American Institute of Chemical Engineers
Volume 25, Issue 6, pages 1043–1057, November 1979
How to Cite
Ogunnaike, B. A. and Ray, W. H. (1979), Multivariable controller design for linear systems having multiple time delays. AIChE J., 25: 1043–1057. doi: 10.1002/aic.690250616
- Issue published online: 17 JUN 2004
- Article first published online: 17 JUN 2004
- Manuscript Accepted: 27 JUL 1979
- Manuscript Revised: 17 JUL 1979
- Manuscript Received: 26 MAR 1979
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.