| Abstract: | Self-tuning control of multivariable systems with arbitrary time delays has been an active area of research in recent years. The use of an interactor matrix in deriving controllers for such systems has been suggested by various authors. Factorization of the input polynomial matrix has also been proposed for the controller design stage. It is shown in this paper that these two approaches are not, in general, equivalent. A simple and straightforward procedure for the extraction of the input and output time delay matrices is proposed for the input polynomial matrix factorization approach. Conditions for the time delay matrices to exist are also derived for a class of multivariable systems. These conditions provide a theoretical justification for the use of time delay matrices in self-tuning control of such systems. |
