Internal Model Control for Non-square Processes with Time-delays Based on Non-square Effective Relative Gain

In this book chapter, an internal model control (IMC) structure with a proposed inversion technique for the internal model controller design has been proposed. This command structure is dedicated for the control of non-square multivariable linear systems with time-delays whose transfer matrices are singular.

The proposed IMC is applied on an industrial system having three inputs and tow outputs.

The simulation results obtained are satisfactory for the case of non-square systems and show the effectiveness of the proposed control strategy in ensuring satisfactory nominal and robust performance.