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

Table 8

Robustness analysis under ±10% in the gain and delay: the non-minimum phase 4-tank process case study.

Tuning method	4-tank process (+10%)				4-tank process (−10%)
	Set-point		Disturbance		Set-point		Disturbance
	IAE	TV	IAE	TV	IAE	TV	IAE	TV
Proposed	418.26	120.51	99.43	15.84	510.06	98.66	94.85	13.21
PI	3678.10	37.14	106.96	11.99	4383.80	41.88	102.31	11.58
PID [14].	3768.90	333.93	106.24	7.04	4482.50	339.06	101.65	5.76