... MIGO designs for PID control. We can also expect that the load rejection forthe PID controller is at least twice as good as for PI control. The AMIGO tuning rules (11) give the controllerparameters ... Automatic Control 37 (6)(1992) 759–769.[16] S. Skogestad, I. Postlethwaite, Multivariable Feedback Control, Wiley, 1996.[17] D.E. Rivera, M. Morari, S. Skogestad, Internal model control –4. PID controller ... Zhuang, D. Atherton, Tuning PID controllers with integralperformance criteria, in: Control 91, Heriot-Watt University,Edinburgh, UK, 1991.[29] P. Cominos, N. Munro, PID controllers: recent tuning...