Zafiriou, E.Morari, M.The two-step Internal Model Control (IMC) procedure is presented for the synthesis of multivariable discrete controllers. This paper adds the following features to the IMC design methodology: (i) Extension to open-loop unstable plants. (ii) Design of the first-step (no model error) IMC controller so that the L2-error (sum of squared errors) is minimized for every setpoint or disturbance vector in a designer-specified set and their linear combinations. (iii) The second-step (model-plant mismatch) multivariable low-pass filter is designed for robust stability and performance by minimizing a non-conservative robustness measure, the Structured Singular Value. (iv) The potential problem in intersample rippling is avoided by introducing a modification in the first-step controller and formulating the robust performance objective for the continuous plant output.en-USchemical process controldistillation controlpredictive controllinear systemsoptimal controlrobust controlChemical Process SystemsTechnical Report