“…However, when processes have multipleinput/multiple-output (MIMO) dynamics with complex interactions among variables, such as most chemical processes (Pathiran and Jagadeesan, 2018), the design of PI/PID controllers simultaneously achieving a correct control system operation (adequate set-point tracking, disturbance rejection and insensibility to model uncertainty) is not an easy task (Liu et al, 2010;Maghade and Patre, 2012;Ram and Chidambaram, 2015;Besta et al, 2018); moreover, the application of tuning methods developed for singleinput/single-output (SISO) plants to individual control loops may compromise performance and stability (Vu and Lee, 2010;Nandong and Zang, 2014).…”