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).
CITATION STYLE
Alfaro, V. M., & Vilanova, R. (2017). Two-degree-of-freedom PID controllers structures. In Advances in Industrial Control (pp. 7–19). Springer International Publishing. https://doi.org/10.1007/978-3-319-28213-8_2
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