Decoupling fuzzy internal model control for multivariable systems with multiple time delays

In view of strong multivariable coupling system with multiple times,the decoupling internal model control(IMC) with stability is investigated for multivariable stable processes with multiple time delays.A kind of decoupling way is characterized in terms of the open-loop system's time delays.Owing to the high complexity of the theoretical controller,the controller with IMC design is often high-order.A practical fuzzy internal controller is presented.It is based on the model of the plant to design decoupling compensating matrix to obtain a diagonal dominant system.The compensated diagonal elements are used as internal model.The fuzzy controller is designed.The simulation result shows the decoupling capability and robustness.It is suitable for engineering application.