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PID design for improved disturbance attenuation: min max Sensitivity matching approach

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Figure

Fig. 2.Output and control signal to an input load disturbance generatedby using the Disturbance attenuation tuning and different values of γ
Fig. 3.ISE index for the sensitivity function using disturbance attenuationtuning and different values of γ
Fig. 4.Output signal to a load-disturbance input by application of stepresponse based tuning (γ = TM) and disturbance attenuation tuning withγ = 0.33

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