Optimal two degrees of freedom decoupling smith control for MIMO systems with multiple time delays

A two degrees of freedom controller is designed for multiple inputs multiple outputs system with multiple time delays. An H∞ norm of closed loop optimized decoupled smith control method is used to design feedback controller for disturbance rejection. The reference tracking controller is determined using H
₂
norm of model matching optimal control design method. The parameters of the two controllers are tuned using Particle Swarm Optimization. A comparative analysis shows that better robustness and performance is achieved in the presented work. As disturbance rejection and set point tracking controllers may have trade off in its behavior so independent controllers are designed for both. Wood and Berry distillation column is taken as simulation example for analysis.