Analytical Design and Tuning Method of Multivariable controller for Multi-input-Multi-output (MIMO) Processes

This paper proposes a new analytical method for multivariable control design for a class of stable linear multi-input-multi-output (MIMO) processes. By using the unity feedback structure, a multivariable controller with full matrix form is derived based on internal model control (IMC) theory. The proposed design approach provides a single adjustable parameter for each control loop. Two analytical computation methods are developed to obtain the control parameters according to the robust stability condition and nominal performance. Simulation results are presented to demonstrate the effectiveness of the proposed control and tuning scheme.