A comparison of simple robust PI design methods: studies on a multivariable system

Two simple PID design methods, IMC and GPM, that use robustness as their main design criteria, as opposed to performance, are applied to a multi-loop PI control configuration which is being used to control a multivariable process model against load disturbances. Initially individual loop control designs are tested on the multivariable process. In addition to these studies on the LV multi-loop control configuration decouplers are then be added to try and reduce the control loop interaction. Finally process model mismatch studies are performed.