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SUMMARYThe loop coupling reduction of multivariable systems under the presence of plant uncertainty is currently a most discussed topic. Following the ideas suggested by Horowitz, in this paper the role played by the nondiagonal controller elements is analysed in order to state a design methodology. Thus, the definition of a coupling matrix and a quality function of the non-diagonal elements come into use to quantify the amount of loop interaction and to design the controllers, respectively. This yields a criterion that makes possible to propose a sequential design methodology of the fully populated matrix controller, in the quantitative feedback theory (QFT) robust control frame. Finally, a real example with the heat exchanger of a pasteurization plant is included to show the practical use of this technique.

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