Design of 2-DOF PI controller with decoupling for coupled-tank process

This paper presents the approach to design the 2-DOF PI controller with Decoupling for a Coupled-Tank two-input two-output process. The structure of controller design can minimize several undesirable influences from an interaction in TITO process. The decoupling controllers transform TITO plant transfer function models into SISO form so that 2-DOF PI controller for each SISO model can be designed by root locus technique easily and efficiently. The results from decoupling and controller design can be illustrated by experiments.