The difference existing between the controller tuning parameters obtained by optimizing the response to disturbances and the parameters obtained by optimizing the response to set point changes has been shown in a previous paper. In a proportional plus integral (PI) algorithm, the proportional action may be applied to the error signal or to the feedback variable. Both variations respond in the same manner to disturbances, but they respond differently to changes in set point. In this paper the responses of both algorithms to the different types of inputs are studied. (Author)
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