\BOOKMARK [1][-]{section.1}{Introduction}{}% 1
\BOOKMARK [1][-]{section.2}{Evaluation of performance and robustness}{}% 2
\BOOKMARK [2][-]{subsection.2.1}{Output performance}{section.2}% 3
\BOOKMARK [2][-]{subsection.2.2}{Robustness, input usage and noise sensitivity}{section.2}% 4
\BOOKMARK [1][-]{section.3}{Optimal PI Tuning}{}% 5
\BOOKMARK [2][-]{subsection.3.1}{Optimal trade-off between performance \(J\) and robustness \(Ms\)}{section.3}% 6
\BOOKMARK [2][-]{subsection.3.2}{Correlation between robustness and input usage}{section.3}% 7
\BOOKMARK [2][-]{subsection.3.3}{Optimal PI tuning parameters}{section.3}% 8
\BOOKMARK [2][-]{subsection.3.4}{Output disturbance \(setpoint\) versus input disturbance trade-off}{section.3}% 9
\BOOKMARK [1][-]{section.4}{Evaluation of the SIMC PI tuning rule}{}% 10
\BOOKMARK [2][-]{subsection.4.1}{Effect of the tuning parameter c on robustness}{section.4}% 11
\BOOKMARK [2][-]{subsection.4.2}{Optimality of the SIMC-rule}{section.4}% 12
\BOOKMARK [1][-]{section.5}{Improved SIMC-rule}{}% 13
\BOOKMARK [1][-]{section.6}{Obtaining the model from a closed-loop setpoint experiment}{}% 14
\BOOKMARK [1][-]{section.7}{conclusion}{}% 15
\BOOKMARK [1][-]{appendix.A}{Derivation of the Relationship between c and GM, PM and, /}{}% 16
\BOOKMARK [1][-]{appendix.B}{Estimation of parameters 1 and \040from closed-loop step response.}{}% 17