“…Then, several tuning methods use a closed-loop simulation to calculate the output trajectories and evaluate the tuning objectives. Examples of these objectives are the overshoot, the rise time, and settling time of the closed-loop response (Abbas & Sawyer, 1995;Han, Zhao & Qian,, 2006;Reynoso-Meza et al, 2013;Suzuki et al, 2012;van der Lee, Svrcek & Young, 2008). The tuning objective can also be the IAE or the ISE between the output trajectory and an output constraint envelope with variable height (Ali & Zafiriou, 1993b;Al-Ghazzawi et al, 2001).…”