Identification of multivariable delay processes in presence of nonzero initial conditions and disturbances

In this paper, a robust identification method is proposed for multiple-input and multiple-output (MIMO) continuous-time processes with multiple time delays. Suitable multiple integrations are constructed and regression equations linear in the aggregate parameters are derived with the use of the test responses and their multiple integrals. The multiple time delays are estimated by solving some algebraic equations without iteration and the other process model parameters are then recovered. Its effectiveness is demonstrated through simulation and real-time testing.