Designing a controller for a MIMO system of two inputs and two outputs.

Many complex aspects to account for: nonlinearity, coupled, time delay, sensor gain error.

Criteria included minimizing settling time, minimizing overshoot, and maximizing steady-state accuracy. The system must also never overflow.

Resulting controller was a decoupled, linearized internal model control (IMC) controller, which compares sensor data to an expected value, and adjusts based on the error.

Modelled the effects of various sensor sample times on the accuracy of the system.

Modelled the effects of noise on the system based on real-world characteristics of the sensors.