Multivariable PID control by inverted decoupling: Application to the Benchmark PID 2012

This paper deals with the boiler control problem proposed as a benchmark for the IFAC Conference on Advances in PID Controllers (PID’12). This boiling process is a multivariable nonlinear system that shows interactions and is subjected to input constraints. As proposal, in this work, a PID control by inverted decoupling with feedforward compensation is developed. The design simplicity and easiness of implementation are highlighted. Experiment simulations considered in the benchmark show that the proposed design achieves better performance indexes than those of the reference cases.