A procedure is presented for designing multivariable controllers for unidentified plant. It is assumed that the open-loop plant is stable and its response to step inputs are basically nonoscillatory. For such plant, no mathematical model is required in order to generate multivariable I, PI, or PID controllers. Method of tuning the controllers are also presented and demonstrated, first on a low order linear distillation column model, and finally on a high order, nonlinear, once-through boiler model typical of the type used in nuclear power plant simulation studies.

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