The design of decentralized PI controller based on BLT tuning method is extended to design centralized PI controllers for TITO systems. The multivariable PI control structure proposed by Tanttu and Lieslehto (1991) is considered. The single detuning parameter (F) is selected in order to get the Biggest Log Modulus as 4dB. Decentralized PI controllers are also designed using the IMC to get the Biggest Log Modulus as 4dB. The centralized PI controllers give improved main responses and decreased interactions. This improvement is shown particularly for TITO systems having the relative gain element, λ ij < 1. The robustness of these controllers is evaluated by the Inverse Maximum Singular Value versus Frequency plot for both the input and output multiplicative uncertainties.Simulation results are given for two TITO examples. The present controllers give better performances over that of the original Tanttu and Lieslehto method. The present decentralized PI controllers give improved performances over the decentralized PI controllers proposed by Xiong & Cai (2006).
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