... shown in Figure 6. Again, the comparison0 10 20 30 40 50 60 70−0.8−0 .6 −0.4−0.200.20.40 .6 Time (s)y(t) Reference signalPIVIPIAPIFAPI45 50 55 60 −0.8−0 .6 −0.4−0.200.20.40 .6 Time ... in terms of the absolute value and its derivative; for this reason it isparticularly suitable in particular control applications: for instance when control componentswith moving parts are involved ... tuning formulae for set-point changes in the case of first-order plus dead time plant model, optimised in order to minimise theIntegral of the Square Error (ISE) signal. The set-point weighting...