Dahlin Deadbeat Internal Model Control for Discrete MIMO Systems

Controlling Multiple Input Multiple Output (MIMO) systems present a considerable challenge, particularly when dealing with time delays, nonlinearities, and disturbances. While the Dahlin algorithm and deadbeat control can offer good performance for such systems especially for systems requiring aperiodic responses or those where overshoot and setteling time need to be minimized, their effectiveness can diminish if the model parameters are inaccurate or in the presence of disturbances which lead to steady-state errors. To address these limitations, we propose combining these approaches with Internal Model Control, known for its robustness in handling variations in process dynamics, ensuring accurate setpoint tracking and disturbance rejection. In this paper, we introduce the Dahlin Deadbeat Internal Model Control (DDIMC) for discrete MIMO systems. Initially designed for linear processes with multiple time delays, this control strategy addresses complex control challenges arising from coupling effects and time delays. For nonlinear processes, we extend this controller using a multimodal control strategy which involves describing the nonlinear system with multiple linear discrete models, each paired with a Dahlin Deadbeat controller. A fusion technique is then employed to select the most suitable controller for application. Simulation case studies performed using the MATLAB software validate the effectiveness of these strategies, demonstrating their ability to consistently ensure satisfactory dynamic and robust performance.