To acheive complete compensation for loads, a novel multi-controller scheme with feedforward control is proposed. This scheme has four controllers, a set-point controller, two load controllers, and a feedforward controller. This results in the separation of the load response from the set-point response in a closed-loop system. These four controllers can then be designed independently to achieve good system performance for both set-point tracking and load rejection. One of the load controllers can be chosen as a proportional controller; this guarantees physical realizability and provides excellent compensation. The results of simulation and real time control show that the proposed multi-controller scheme is superior to a double-controller system and a Smith predictor in the presence of large uncertainty in process dynamics especially for load disturbances.