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Modified two-degree-of freedom fractional order Smith predictive control for MIMO processes with time-delays

For multivariable systems with time-delays in industry system, a modified two-degree-of-freedom Smith predictive control structure was designed based on inverted decoupling. Firstly, according to the theory of inverted decoupling, we designed the decoupling matrix to achieve the goal of complete decoupled. Then, the set-point tracking controller and disturbance rejection controller were designed respectively for the decoupled single-loop systems with the Dahlin control algorithm and fractional order internal model control method. Finally, simulation example was used to illustrate the effectiveness of the proposed methodology. The results show that the method can provide a better tracking performance and robustness, the disturbance rejection property can be achieved simultaneously.