Abstract
Due to the fact that in most of the existing industrial process control applications the desired value of the controlled variable, or set-point, normally remains constant (regulatory control or disturbance rejection operation) but eventually may need to be changed (servo-control or set-point tracking operation).
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Alfaro, V.M., Vilanova, R. (2016). Two-Degree-of-Freedom PID Controllers Structures. In: Model-Reference Robust Tuning of PID Controllers. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-319-28213-8_2
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DOI: https://doi.org/10.1007/978-3-319-28213-8_2
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