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Based on unit feedback closed-loop control structure, a simple analytical design method of decoupling controller matrix is proposed in terms of idea of coupling matrix for Two-Input-Two-Output (TITO) processes with time delays in chemical and industrial practice. By means of powerful robustness of two degree-of-freedom PID Desired Dynamic Equation (DDE) method, PID decoupling controller is analytically designed. And the Monte-Carlo stochastic experiment is introduced to analyze performance robustness of the controller. The most important merit of the proposed method is that for the nominal system the output of each channel can be decoupled entirely. Moreover, the decoupling matrix is simple and easily realized. Finally, illustrative simulation examples are included to demonstrate the remarkable superiority of the proposed method.
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