A regulating and tracking PI( D) controller

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Abstract
Traditionally, PI controllers operate solely on the reference error signal (modified reference error in the case of PID controllers) in the forward path of the classical feedback loop. They are designed either as regulating (e.g. to reduce process disturbances) or as tracking controllers (e.g. to follow reference changes). If both characteristics are important then a compromise design has to be found. Here a special ‘connection’ of the classical PI(D) controller is proposed, which allows a greater degree of independence in the design and practical tuning of the regulating and tracking features.

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