Tuning of decentralised PI (PID) controllers for TITO processes

Based on dimensional analysis, a decentralised PI (PID) tuning method for two-input two-output processes is presented. First the process is decoupled through a decoupler matrix. Next, a first (second) order plus dead time model is determined for each element of the decoupled process. Then, a decentralised PI (PID) controller is obtained using the non–dimensional tuning method. In order to demonstrate the performance of the proposed method it is applied to four processes including a Rolls-Royce jet engine.