Abstract
AbstractA recently published paper addressed the so called “PI+p” controller (i.e., a PI augmented with an additional, stable pole) and demonstrated that said controller yields interesting results particularly if tuned with the “contextual” approach, where model-based rules are used in conjunction with a relay experiment so as to provide at the same time the tuned regulator, and the tuning model. In this manuscript the scope is extended to the “PID+p” (with obvious meaning) controller structure, discussing its potentialities with reference to some benchmark cases.
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