A fast design method for robust industrial controllers of MIMO time-delay plants

A new fast design method for robust industrial controllers of multivariable time-delay plants, via majorant systems in the frequency domain, is provided. The proposed methodology allows establishing fast design techniques for a broad class of industrial controllers (PI, PID, PIDR, PI2, PI2D, PI2DR, and PI2D2R types) of multivariable plants with internal and/or external delays, parametric and/or structural uncertainties, and subject to disturbances, when an analytical model of the plant or data acquired from simple experimental tests are available. Stability margins larger than those of proper reference systems are always guaranteed. Hence, good performance of robustness of stability and tracking precision of smooth non-standard references, with respect to parametric and/or structural uncertainties and/or smooth non-standard disturbances, are ensured. The stated methodology is illustrated and validated in several case studies, experimentally too, providing various performance comparisons, also about the tracking precision of references with bounded first or second derivative.