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

Table 6

Robustness analysis under ±10% parametric uncertainties: The ISP reactor case study.

Tuning method	ISP (+10%)				ISP (−10%)
	Set-point		Disturbance		Set-point		Disturbance
	IAE	TV	IAE	TV	IAE	TV	IAE	TV
Proposed	19.75	8.72	120.67	2.90	21.28	9.27	127.46	2.54
PI	158.68	1.95	224.06	1.33	193.50	1.94	225.85	1.33
PID [14]	404.24	4.82	415.56	1.28	482.68	4.94	418.84	1.52
IMC-PI [13]	4.36	2.05	48.33	8.26	3.58	1.92	49.95	10.32