A successful method for tuning single-loop PID controllers is the ultimate-point method. This method is based on the identification of the ultimate point of the process' frequency response followed by its shifting, through appropriate choices of the controller's parameters, to a specified location of the complex plane. This paper presents an extension of the ultimate-point method to the tuning of decentralized controllers for multivariable processes.
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Campestrini et al. (2009) studied this question.
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