A multivariable thermal system with two inputs and two outputs is investigated. Its inputs are a pair of heaters controlled by a computer while its outputs are temperatures measured by two sensors. The system is fully interactive so two different controller structures can be used to ensure that the temperatures track their respective set-points. Both are multivariable controllers though one has a diagonal structure while the other has a triangular structure. Multi-objective optimization with a posteriori decision-making based on Pareto efficiency, level diagrams, hyper volumes and other performance indices is used to compare quantitatively the two controller structures when applied to a highly interactive multivariable system based on this plant.
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