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Hindawi Publishing Corporation Mathematical Problems in Engineering Volume 2012, Article ID 570498, 13 pages doi:10.1155/2012/570498 Research Article A Quasi-ARX Model for Multivariable Decoupling Control of Nonlinear MIMO System Lan Wang, Yu Cheng, and Jinglu Hu Graduate School of Information, Production and Systems, Waseda University, Hibikino 2-7, Wakamatsu-ku, Kitakyushu-shi, Fukuoka 808-0135, Japan Correspondence should be addressed to Jinglu Hu, jinglu@waseda.jp Received 27 June 2011; Accepted 17 August 2011 Academic Editor: Jinling Liang Copyright q 2012 Lan Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. This paper proposes a multiinput and multioutput MIMO quasi-autoregressive eXogenous ARX model and a multivariable-decoupling proportional integral differential PID controller for MIMO nonlinear systems based on the proposed model. The proposed MIMO quasi-ARX model improves the performance of ordinary quasi-ARX model. The proposed controller consists of a traditional PID controller with a decoupling compensator and a feed-forward compensator for the nonlinear dynamics based on the MIMO quasi-ARX model. Then an adaptive control algorithm is presented using the MIMO quasi-ARX radial basis function network RBFN prediction model and some stability analysis of control system is shown. Simulation results show the effectiveness of the proposed control method. 1. Introduction Nonlinear system control has become a considerable topic in the field of control engineering 1, 2. Many control results have been obtained for nonlinear single-input and single-output SISO systems based on the black box mod