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

Table 7

Comparative analysis of controller’s performances. The non-minimum phase 4-tank process.

Tuning method	Set-point		Disturbance
	IAE	TV	IAE	TV
Proposed	479.04	119.47	98.24	15.20
PI	4005.50	39.10	105.91	11.48
PID [14].	4100.80	338.06	105.22	6.75