2-dof controller. All controller parameters are tuned automatically.

[esmatparast]

2-dof controller. All controller parameters are tuned automatically.

2-dof controller. Controller parameters "b" and "c" are fixed equal to the corresponding block values.

1-dof controller. Controller parameters "b" and "c" are fixed equal to 1.

2-dof PID controller with b = , c =

2-dof PID controller with first-order derivative filter and b = , c =

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