Two-Degree-of-Freedom PID Controllers Structures

  • Víctor M. AlfaroEmail author
  • Ramon Vilanova
Part of the Advances in Industrial Control book series (AIC)


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).


Proportional Integral Controller Proportional Integral Derivative Proportional Integral Controller Output Internal Model Control 
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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.School of Electrical EngineeringUniversidad de Costa RicaSan JoséCosta Rica
  2. 2.School of EngineeringUniversitat Autònoma de BarcelonaBarcelonaSpain

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