Method and system for controlling a multiple input/output process with minimum latency using a pseudo inverse constant

A method controlling a process, comprising the steps of:

• receiving at least a first input variable and a second input variable;
• producing at least a first control variable and a second control variable;
• determining a first delay as a function of a second delay associated with one of the first and second control variables;
• introducing the first delay to another of the first and second control variables to produce first and second control variables with unified delay;
• measuring process output variables of the process;
• modelling effects of the process on the first and second control variables in which the first delay has been introduced and producing estimated process output variables;
• processing a difference between the measured process output variables and the estimated process output variables to correct for disturbances;
• and
• adding the processed difference to said first and second control variables in which the first delay has been introduced, wherein said step of modelling is performed on the sum and said steps of producing and processing are performed using a pseudo inverse gain constant.

A control system for a process, comprising:

• a first controller for receiving at least a first input variable and a second input variable and producing at least a first control variable and a second control variable, said first controller unifying delay between the first control variable and the second control variable and outputting first and second control variables with unified delay;
• a processor for modelling effects of the process on the delayed first and second control variables output by said first controller and producing estimated process output variables;
• and
• a second controller for processing a mismatch between the estimated process output variables and measured process output variables to correct for disturbances, wherein the processed mismatch is added to the delayed first and second control variables, the sum is received by said processor and the process being controlled and the first and second controllers use a pseudo inverse gain constant for producing said first and second control variables and for processing the measured and the estimated process variables, respectively.

A method for controlling a process, comprising:

• receiving at least a first input variable and a second input variable;
• producing at least a first control variable and a second control variable;
• unifying delay between the first control variable and the second control variable;
• measuring process output variables of the process;
• modelling effects of the process on the first and second control variables in which the delay has been unified and producing estimated process output variables;
• processing a mismatch between the measured process output variables and the estimated process output variables to correct for disturbances;
• and
• adding the processed mismatch to said first and second control variables in which the delay has been unified, wherein said step of modelling output is performed on the sum and said steps of producing and processing are performed using a pseudo inverse gain constant.