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In this paper, simultaneous tuning of cascade controllers is proposed to improve the performance of the system under load disturbance. For this purpose, the cost function of a nonlinear optimization problem is formulated to minimize the effect of disturbances on the system output. In addition, robustness constraints are defined for the maximum sensitivity function to independently guarantee a robust system for inner and outer loops. In this sense, the designer can explicitly and independently address the trade-off between performance and robustness for both loops. Simulation studies illustrate the performance and effectiveness of the proposed controller design method compared to well-known methods in the literature. These results indicate that the proposed method reduces the integrated absolute error (IAE) under load disturbance by up to [Formula: see text]. In addition, experimental results from a tank-level control application in the mineral process industry illustrate the practical applicability of the proposed method. In this case, the proposed method reduces the IAE under load disturbance by [Formula: see text].<\/jats:p>","DOI":"10.1177\/01423312221099376","type":"journal-article","created":{"date-parts":[[2022,6,4]],"date-time":"2022-06-04T04:15:07Z","timestamp":1654316107000},"page":"3118-3131","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":7,"title":["Simultaneous tuning of cascade controllers based on nonlinear optimization"],"prefix":"10.1177","volume":"44","author":[{"given":"Diego S","family":"Torga","sequence":"first","affiliation":[{"name":"Andritz Automation, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8405-3518","authenticated-orcid":false,"given":"Mois\u00e9s T","family":"da Silva","sequence":"additional","affiliation":[{"name":"Instituto Tecnol\u00f3gico Vale, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lucas 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