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Iterative Feedback Tuning (IFT) Safe Switching Algorithm is extended for the case of multivariable nonlinear systems with unknown descriptions. The proposed scheme incorporates multivariable IFT techniques, with a multivariable step-wise safe switching algorithm. Using the IFT algorithm for tuning safe switching controllers eliminates the need for identifying the MIMO linear models that describe the plant around trim (operating) points. Instead of that, specific experiments proposed by multivariable IFT are performed, in order to tune the parameters of "common" MIMO controllers for adjacent trim points. Controller tuning is based on optimizing a cost criterion appropriately defined to express the desired closed loop performance characteristics simultaneously for adjacent operating areas.