PI LQR Control of MIMO Time–Delay Processes Subject to Output Disturbances

The control of continuous–time MIMO (Multiple Input Multiple Output) time–delay processes having multiple output disturbances is performed in this work. The MIMO controller employed for such a purpose is a discrete–time PI (Proportional plus Integral) LQR (Linear Quadratic Regulator) controller. Several performed examples will verify that the proposed approach is able to control simultaneously the outputs of MIMO time–delay processes under the presence of arbitrary disturbances. The control approach employs a full observer to estimate the states of the process.