A new design method of an Internal Multi-Model controller for a linear process with a variable time delay

This document introduces a new Internal MultiModel controller design method for a linear system with a limited variable time delay. This design method is based on the use of a models collection to approximate the system functioning using Padé approximations; these models are inversed and multiplied by low pass filters in order to obtain a set of controllers that calculate the command value through a fusion procedure. These controllers are obtained by the multiplication of a low pass filters and Models inverses, in order to impose poles and zeros for the considered system and to control the command robustness through the filters parameters, which shall confirm a compromise between stability and rapidity. In this paper the Multi-Model Command controller design method will be described through six sections; first section introduces the realized research on this paper, the second section describes Internal Model Control concepts, third section describes effects of presence of a time delay on systems dynamics, the fourth section shows briefly Multi-Model concepts, the fifth section presents the new Internal Multi-Model controller design Method and finally section six deals with the obtained results of the new controller design method application for a system with a limited variable time delay and the filters parameters variations effects.