In this paper, a systematic method is proposed for the design of general multivariable
controller for complex processes to achieve the goal of fast loop responses with acceptable
overshoots and minimum loop interaction while maintaining low complexity of the feedback
controller. The design of general transfer function type controller is based on the
fundamental relations under decoupling of a multivariable process, and the characterization
of the unavoidable time delays and non-minimum phase zeros that are inherent in the …