Continuous-time nonlinear feedback control of multivariable processes
with dead-times is considered. The problem of deadtime compensation fo
r a class of nonlinear multivariable processes is solved. The nonlinea
r controllers are derived by using two conceptually different approach
es, a differential geometric approach and a model predictive approach.
The model predictive approach uses shortest prediction horizons which
allow one to establish the connections between model predictive contr
ol and input-output linearization. These two approaches lead to identi
cal feedback controllers when there are no constraints or when the cha
racteristic (decoupling) matrix of process can be made diagonal by man
ipulated-input/controlled-output rearrangements. Connections between t
he derived controllers and the linear internal model control are estab
lished. The application and performance of one of the derived nonlinea
r controllers is illustrated by a reactor example.