Based on relay feedback self-tuning technology, self-tuning method of multivariable PID controller for coordinate control system of large scaled fossil-fired power unit is stated.

The main focuses of this thesis are model simulation, coupling analyses, decoupling PID controller design and multivariable predictive controller design based on wastewater treatment Benchmark.

The controller can learn, on line, the control rules of the complex dynamic process with multivariable coupling, nonlinear and uncertainty, so that the PID parameters are tuned automatically.