Abstract
An IMC-PID fractional order filter multi-loop controller design method based on two degrees of freedom paradigm is proposed for Multiple Input-Multiple Output systems with time delays. The interactions among the control loops are considered as disturbances. Thus, a two degrees of freedom control scheme, used for monovariable system to ensure the disturbance rejection, is extended to multivariable systems in order to reduce the effect of the coupling among the control loops. The proposed controller design method requires the control pairing selection with the least interactions and a set-point controller is calculated. An interactions reduction effect controller is calculated for each loop by defining a suitable complementary sensitivity function. The proposed controller design method is simple and systematic in relation with the desired closed loop specifications of each loop. The controllers obtained ensure robustness to process variations. Two illustrative examples are presented to show the merits of the proposed method.