Closed-loop properties of open-loop stable multivariable systems are explored when the controllers include integral action. The studied properties comprise closed-loop stability, sensor and actuator failure tolerance, feasibility of decentralized control structures, and robustness with respect to modeling errors. All the results are based on steady-state gain information only. The relationship between the new theorems and the Relative Gain Array (RGA) is elucidated.

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Over the years the role of the analytical chemist has evolved in step with technological advancements and the quest to explore and understand issues of increasing complexity. The

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