Methods for the design and tuning of multivariable model state feedback (MMSF) systems for complete and triangular output decoupling of inherently stable processes are presented. MMSF is a method of implementing multivariable IMC controllers that substantially reduces the complexity of the implementation and compensates for control effort saturation. Complexity is reduced because the controls are formed as a linear combination of past and current model states. Saturation-induced directionality problems are avoided by temporarily increasing filter time constants to bring the control vector into the constraint set. The possibility that needed future controls will be inadequate to compensate for past control action is avoided by setting minimum values for the controller filter time constants. The feedback structure of MMSF facilitates on-line tuning, one process variable at a time. Also, because MMSF is a form of IMC, it can be tuned off-line to accommodate process uncertainty rising H-infinity methods.