On the design and properties of multivariable dead time compensators

The design problem of multivariable dead time compensators for MIMO systems with multiple dead times is considered. Analytical design aids which take into account the stability and sensitivity properties of these systems are presented. Conditions for practical stability, estimates on allowable tolerances in process models and methods for determining controller gains are derived. Based upon sufficient conditions, these methods lead to conservative gains. The extent of conservation is related to the amount of computational effort involved in each method and to the available plant information. It is shown that the type of dead time compensator treated here cannot be applied to unstable processes. Diagonal dominance theory is used to derive some of the results. Illustrative examples demonstrate the main results.

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