Internal model control for multivariable over-actuated systems with multiple time delays

Through this article, we will focus on the most common problem in the internal model control for multivariable systems with multiple time delays, that is the reversal of the corrector. This problem seems to be quite annoying when we face a non-square system. Our ultimate work developed through this paper, will be concentrated on a specific work structures to overcome the mean difference between the number of inputs and outputs of the system so that we can confront the reversal of correction with more flexibility and suppleness.