Abstract
The purpose of the paper is two-fold: to present a simple, multivariable, dynamical system and to use it to demonstrate the benefits of a multivariable PI controller compared with the scalar PI controller. The two-lamp system presented in the paper is multivariable and nonlinear containing strong interactions. Multivariable PI controllers can be tuned almost as easily as scalar PI controllers, but provide significant advantages compared with scalar controllers. Demanding state-space or frequency domain design of controllers with matrix algebra are avoided, when a multivariable PI controller with familiar scalar PI subcontrollers is used.
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