The mathematical model of the Two Interaction Conical Tank (TICT) system is given by Table 1. Conical tank specifications s The transfer function G, (s), G,,(s), G,,(s) and G,,(s) are obtained by conducting step test. By keeping constant inflow rate to the tank, the steady state responses of open loop systems are obtained. From the open loop responses of two interacting conical tank system, the transfer func- tions are obtained as follows. Relative gain Array (RGA) matrix is computed for the transfer function is given by Table 2. The comparisons of different method’s ISE values of TICT Figure 3. Servo Response of Tank 2. Figure 2. Servo Response of Tank 1. For TICT, three tuning methods (Davison method and Tanttu and Liesleh to method) are used. The ISE and Peak overshoot values of both methods are compared which shown in Figure 2, Figure 3 and Table 2. In this
