Design of centralized controller based on inverted decoupling structure for non-square systems with time delay

An attempt is made to design the centralized controller based on the inverted decoupling structure (CCID) for non-square (nxm) processes with multiple time delays. To avoid the Moore-Penrose pseudo-inverse of the nominal plant with multiple time delays and Maclaurin series approximation, a centralized controller is decomposed into two components using inverted decoupling structure. The two components of the centralized controller (Gd, Go) is found through analytical method without taking pseudo-inverse of the nominal plant transfer function with multiple time delay. Here centralized controller is designed based on the desired closed loop transfer function matrix. Simulation studies demonstrate the effectiveness and simplicity of this method.