... ResponseTime (sec)Amplitude← PID controller ← PI controller ← P controller (b) closed-loop step responseFigure 6.9. Controller design and responses.In other words, if a PID controller, with derivativeactioninaforwardpath,isdesigned,then ... CHR controllers.a = kL/T and τ = L/(L + T). The different controllers can be designed by the direct useof Table 6.4.A MATLAB function cohenpid() is written which can be used to design a PID controller ... proofs‘‘book2007/8page 26.3. Other PID Controller Tuning Formulae 207Disturbance rejection PID tuningSometimes one may want to design disturbance rejection PID controllers, i.e., to design a controller having a...