A feedforward plus decoupling control design for set-point following of TITO processes

In this paper we propose a methodology for the design of a control system for two-inputs-two-outputs processes. The methodology aims at improving the set-point following performance by employing a decoupler and a feedforward controller. The feedback controller is a standard decentralized PID controller while the feedforward controller is based on an approximated model of the decoupled system. A robustness analysis is performed in this context. Simulation and experimental results show the effectiveness of the methodology.