MIMO PI Controllers for LTI Systems with Multiple Time Delays Based on ILMIs and Sensitivity Functions

Table 2

Robustness analysis under ±10% in the gain and delay: the distillation column with input delays.

Tuning method	The distillation column with input delays (+10%)				The distillation column with input delays (−10%)
	Set-point		Disturbance		Set-point		Disturbance
	IAE	TV	IAE	TV	IAE	TV	IAE	TV
Proposed	166.17	60.42	453.14	19.77	189.34	11.97	371.23	15.83
PI controller	457.45	1.82	1366.10	6.69	537.84	1.80	1118	5.18