PID control schemes have been widely employed for industrial processes. However, it is important to choose a suitable set of PID gains included in the PID controller, because the control performance strongly depends on these PID gains. For single-input/single-output systems, data-oriented control schemes without using the system model in computing PID gains have been proposed. In this paper, the proposed scheme is extended to a multi-input/multi-output case. That is, PID gains included in the multivariable PID controllers can be derived by using only the operating data. As a result, the suitable set of PID gains can be obtained, and it enables the system output to track to the reference model output. The behavior of the proposed scheme is examined by numerical simulation examples. (C) 2015 Wiley Periodicals, Inc.