Text this: Internal model based PID control of multivariable system

 ______     _____    ______    __   __   __   __  
|      \\  |  ___|| |      \\  \ \\/ //  \ \\/ // 
|  --  //  | ||__   |  --  //   \ ` //    \   //  
|  --  \\  | ||__   |  --  \\    | ||     / . \\  
|______//  |_____|| |______//    |_||    /_//\_\\ 
`------`   `-----`  `------`     `-`'    `-`  --`