Sohrab Nasiri - Young Researchers and Elite Club, Marvdasht Branch , Islamic Azad University, Marvdasht
Jeiran Nasiri - Computer Dept., Shahid Ashrafi Esfahani University Esfahan, Iran
Mazda Moattari - Electrical Dept. of Marvdasht Branch, Islamic Azad University, Marvdasht, Iran

A multivariable system with two inputs and two outputs is used to control a CD player arms which, due to the complexity of its governing equations, has a complex modeling. Therefore, the system is identified using identification methods and its parameters are obtained. The order of the system was reduced with balanced residualization method and outputs were decoupled, eventually the appropriate PI controller for the obtained model was designed.

CD player arm;identification of state space; PI controller;multivariable system