Simultaneous optimisation of set point tracking and decoupling in autotuning multivariable regulators

This paper presents and discusses a causal method to design the feedforward part of 2-D.O.F. MIMO controllers, to simultaneously achieve optimal set point tracking and decoupling. The nonparametric base functions approach, recently introduced in the literature, is extended here to the MIMO case, establishing a unified approach to devise an optimisation procedure computationally simple and based on a few easily interpreted design parameters. Simulation examples demonstrate the method´s effectiveness, simplicity, and practical usefulness.