Control of multivariable systems containing time delays using a multivariable smith predictor

A multivariable version of the classical Smith predictor is applied to a double effect evaporator containing time delays in the control variables and some of the output variables. As in the classical approach, the multivariable Smith predictor eliminates time delays from the characteristic equation of the closed-loop system. Simulation and experimental results for the pilot-scale evaporator are quite promising and demonstrate the feasibility of the multivariable Smith predictor for practical control problems.