Design of Model Predictive Control of Multivariable Time-delay Plants Using Interactor Matrix

摘要

This paper proposes a model predictive controller for multivariable systems with time-delays. The design method is derived by the following way, first to consider a design for single input single output(SISO) systems and to modify the control problem for the SISO systems with no time-delays by shifting the outputs with time-delay steps and a design method with no time-delays is applied to the modified systems. Then the SISO case is extended to multi-input multi-output(MIMO) case by replacing time-delay steps in SISO case with an interactor matrix of MIMO plants.