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This paper presents how to design as simply as possible a robust MIMO controller for a refrigeration system with a 2 inputs, 2 outputs and a nonlinear model. Even if the proposed method starts from the CRONE MIMO approach, the analysis of the linear MIMO behavior of the system model shows that its MIMO controller can be decentralized and designed in two simple steps based on the SISO CRONE methodology. Simulation results show the good control performance and robust stability for a wide set of operating points.

Simplified fractional-order design of a MIMO robust controller