Decoupler and PID controller design of TITO systems

Pontus Nordfeldt, Tore Hägglund

Research output: Contribution to journalArticlepeer-review

118 Citations (SciVal)


This paper treats controller design and tuning for systems with two input signals and two output signals in the process industry. Two design methods that can be combined to form a core in an algorithm for automatic design and tuning for the considered systems are presented. The proposed controller consists of a decoupler and a diagonal PID controller. The decoupler has the property that as little dynamics as possible is introduced in the decoupler. The PID design method is based on exhaustive search. The methods are combined and tested in an industrial environment in a paper mill. (C) 2006 Elsevier Ltd. All rights reserved.
Original languageEnglish
Pages (from-to)923-936
JournalJournal of Process Control
Issue number9
Publication statusPublished - 2006

Subject classification (UKÄ)

  • Control Engineering


  • decoupling
  • multi-variable control
  • PID control
  • TITO control
  • process control


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