Abstract
Abstract This work presents a design procedure of a dynamic compensator for multivariable IMC control structure. This compensator can yield both faster transient response and zero steady state error to interaction effects. Several examples are given to demonstrate the availability of this methodology. They are chosen with different degrees of interactions, based on RGA (relative gain array) and RDG (relative disturbance gain). In addition, an 1 MC structure optimally decoupled is used as an upper bound for the performance obtainable to compare with the compensated interactive system. Finally, it is shown that this; procedure is easily extended to classical feedback controllers PI and P1D.
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