How to design a PID controller for MIMO systems?

Linearized Model:- a=[-100 -628.32 -1000 0 0 0 0 0 0 0 0;226.19 -100 0 -1000 0 0 0 0 0 0 0;100000 0 0 -628.32 -104790 0 102500 0 0 0 0;0 1e6 226.19 0 0 -37726 0 36902 0 0 0;0 0 325.55 0 -45.54 -376.99 44.375 50.528 212.38 0 0;0 0 0 325.55 376.99 -45.54 -50.528 44.375 -14.612 0 0;0 0 0 0 28.905 0 -29.551 1.5489 1591.1 0 0;0 0 0 0 0 28.905 -1.5489 -29.551 -109.47 0 0;0 0 0 0 0.87472 -0.060182 -0.89748 0.014545 -1.0531 16849 42.123;0 0 0 0 0 0 0 0 -0.025 0 1;0 0 0 0 0 0 0 0 1.25 -20000 -55.302]; b=[4331.6 5243.1 0 0 0;0 -6371.2 -97980 0 0;22411 -4527.5 -7979600 0 0;-7619.9 -17920000 3041500 0 0;-222.94 0 0 0 0;24.59 0 0 0 0;-1591.1 0 0 0 0;109.47 0 0 0 0;0.39844 0 0 0 0;0 0 0 0 0;0 0 0 22.848 -5.3188]; c=[9798 0 0 0 0 0 0 0 0 0 0;0 -16330 0 0 0 0 0 0 0 0 0]; d=[219.62 0 -24528 0 0;108.44 136279 137990 0 0];

xo=[-8.45;2.5;1632.3;-2.16;26.45;1632.5;109.5;1591;378.5;0.004;9.45]; u=[ 377; 0.8;0;10;0];

[M]

Could you be more specific ? u is your input ? What does the numeric values of u correspond to ?

[Yasir Ghazi]

yes U is input(5

) and y output(2)