所设计的多变量内模控制器能使系统稳定解耦，所得到的闭环系统根据开环系统时滞来描述。

All the stabilizing IMC controllers and the resulted closed-loop systems were characterized in terms of the open-loop system's time delays.

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本文主要研究时滞多变量系统的内模控制方法的设计，以期找到简单、有效、实用的方法。

This paper mainly studies internal model control designed for the multivariable time-delay system in order to find simple, effective and practical method.

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大型火电单元机组是一个多变量、强耦合、大时滞的非线性系统，用传统的控制方法很难得到最佳的运行效果。

It is difficult to set up the exactly mathematic model and it is a challenge for the design of the power unit control system.

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