If you are looking to design a using IMC tuning rules or a full Multivariable (MIMO) controller?

Robust Process Control remains a foundational pillar of modern automation, chemical engineering, and industrial manufacturing. For engineering students, researchers, and practicing automation professionals, the textbook Robust Process Control by Manfred Morari and Evanghelos Zafiriou is considered the definitive authority on the subject.

: The University of South Carolina hosts a PDF containing the Preface and Chapters 1–3 .

Few books in engineering manage to bridge the gap between purely theoretical concepts and practical industrial application. "Robust Process Control" by Manfred Morari and Evanghelos Zafiriou stands as a landmark work that has accomplished this rare feat. Since its first publication in 1989, this comprehensive textbook has become the essential reference for chemical engineers, control system designers, and students seeking to master the design of feedback systems that remain stable and perform well—even when faced with the inevitable inaccuracies and uncertainties of mathematical models.