Design of PD Controllers Parameter Space for Transfer Function Model with Multiple Time-Delays

This paper studies the design of stabilizing proportional-derivative (PD) controllers parameter space for a class of transfer function model with multiple time delays. A PD controller parameter space for each channel of the two-input two-output (TITO) plant is proposed by introducing a decoupling design method and Hermite-Biehler theorem. The design technique is restricted to the class of transfer function systems where multiple time delays are present in the numerator of each block of the transfer function matrix. The effectiveness and merits of the proposed PD controller parameter space designed for stabilizing multiple time-delay systems are illustrated with a numerical example.