Input-Output Linearization of Multivariable Nonlinear Systems with Input Time Delays : Compensation of Time Delay Using Smith-like Predictor

Abstract

Although the exact linearization based upon a differential geometric approach is an effective method for designing a certain class of nonlinear control systems, it is not directly applicable to systems with delays due to the infinite dimensionality of the systems. In order to circumvent this difficulty, this paper proposes the use of a Smith-like predictor in the control scheme consisting of an input-output linearization of multi-input-multi-output nonliner systems with input time delays. Designs of the linearizing controller and the dead-time compensator can be done separately. Effectiveness of the present method is tested by simulation of a power plant control.