Design of a multivariable internal model controller based on singular value decomposition



In this article, a novel internal model control (IMC) approach based on singular value decomposition (SVD) is proposed for the control of multiple-input–multiple-output (MIMO) systems with multiple time delays. This approach achieves decoupling using a compensation term and improves the robustness using SVD in the inverse of the steady-state gain matrix of process. Meanwhile, a novel filter is designed for decoupling and fast response speed of multivariable systems with multiple delays. The design of the controller can be extended to non-square systems where there are more inputs than outputs. Examples are included to illustrate the effectiveness of the method. © 2012 Canadian Society for Chemical Engineering