This study outlines the development of advanced MIMO (Multiple Input, Multiple Output) configurations, including 2x2, 3x3, and 4x4 systems, utilizing IMC (Internal Model Control) strategies and straightforward decoupling methods. The focal points are the precision of set point tracking and the reduction of control errors, both of which are crucial in control system applications. While the standard IMC PI (Proportional-Integral) controller enhances the servo mechanism of the system, SIMC (Simple Internal Model Control) advances performance in the face of disturbances, a scenario frequently encountered in the field of industrial processes. To maintain stability, the controller gains calculated are adjusted downwards. This approach is compatible with Ziegler-Nichols (Z-N) PI controller tuning parameters, which, while offering a reasonable initial approximation, do not yield the precise system response. Refining the PI controller values based on stability criteria and a detuning factor leads to a more optimized system behavior.

PI Controller, MIMO systems, ETF (Extended Transfer Function), EOTF (Enhanced Operational Transfer Function).