• I-PD controller as an structural alternative to servo/regulation tradeoff tuning 

      Vilanova Arbós, Ramón; Arrieta Orozco, Orlando; González Apellániz, Roberto; Garrido, Xabier G. (2018)
      One of the recurrent topics in the PI/PID literature of recent years is the incorporation of the tradeoff between the two possible modes of closed-loop operation: servo and regulation. Tuning rules are usually provided as ...