I'm trying to optimize a PI controller for a MIMO system called Vinante–Luyben (VL). I need to introduce a stable region to algorithm in order to have a reasonable search space. Do you know any paper or publications which has done it before so i can check if i didn't make any mistake?

(I found two stable for g11 and g22 as figure but it's not working some how)

Thank you for your helping

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