Abstract: A multi-input multi-output (MIMO) controller is configured as a generic, non-interacting, multivariable controller with adaptive capabilities. The controller transforms the coupled multivariable control problem to multiple decoupled single-input single-output loops. The decoupling occurs in the input/output map of the system being controlled. The transformed system can then be controlled using any control synthesis technique to meet the system performance objectives, such as Proportional plus Integral plus Derivative (PID) control. An empirical dynamic model is continually identified from on-line data. From this model, static decoupling transformations based on a singular value decomposition are determined and updated and the controller gains are calculated.