There are a lot of multi-inputs multi-outputs (MIMO) systems in the chemical plants of the manufacturing, and they have the multiple time delays which are different length in each their inputs and outputs pair. This paper explains two-degreeds-of-freedom (2DOF) control system based on generalized minimum variance control (GMVC) for MIMO systems. It can improve the tracking performance to the reference signals and the response property for the disturbance. And the states between the sampling period can be expressed by using the modified z transform for considering multiple time delays.
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