Enhanced Simplified Decoupling for Multivariable Processes with Multiple Time Delays

Truong Nguyen Luan Vu and Moonyong Lee


Simplified decoupling, Multivariable process, multi-loop PI/PID controller, Unmanned ground vehicles


A simplified decoupling method is proposed for enhanced performance of general multivariable processes with multiple time delays. The decoupled processes are expressed as a ratio of the original open-loop transfer function to the diagonal element of the dynamic relative gain array. A coefficient matching is introduced to obtain a stable, proper, and causal decoupler. Combining the advanced design of PID controller is then employed to enhance the overall performance of the decoupling system. The simulation result shows the superiority of the proposed method.

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