Robust Stability Analysis of a Multivariable State Predictive Control System Containing Multiple Output Delays

Abstract

In order to control a plant with time delays, predictive control schemes which use a plant model, such as a Smith controller or a state predictive controller, are very effective. In such a controller, mismatches between the nominal model and the real plant affect closed-loop stability seriously. So robust stability analysis is important to design the predictive controller. In this study, we first construct a state predictive observer for a plant with multiple output time delays, and show a method to obtain stability margins in the delay-times and the gains for a regulator with the constructed observer.