【摘要】 本文将单入单出非线性内模控制系统（ＮＩＭＣ）的设计方法推广到了含多步时滞的多入多出的非线性系统控制器设计中．对于不含纯滞后的过程，所设计的控制器能够实现所期望的常规性能，其中通过非线性滤波器的加入，能够获得当过程和模型存在失配时的鲁棒性，并使控制器结构得以实现．当过程含有多步时滞时，通过在过程及模型的某些输入端增加适当的纯滞后，就可基于不合时滞的辅助模型来设计ＮＩＭＣ控制器．通过化学反应器控制的仿真评价了所提方法的性能．更多还原

【Abstract】 The nonlinear internal model control (NIMC) design concept is extended to MIMO nonlinear systems with time delays. For the process without time delays. the controller is designed to provide nominal performances,and the nonlinear filter is added to obtain robustness for the plant/model mismatch then to make the controller implementable. When the plant has multiple time delays,by adding time delays to some inputs of a plant and its model,NIMC based oil the auxiliary model without time delays can be designed. The performance of the proposed control methodology is evaluated through simulation for a reactor example.更多还原