(shown in yellow on the scope). The simulation shows that the gain-scheduled
configuration achieves good setpoint tracking across this range (pink on the scope).As was shown in “Design Family of PID Controllers for Multiple Operating Points” on page
7-192, the CSTR plant is unstable in the operating range between C = 4 and C = 7. The
gain-scheduled PID controllers stabilize the plant and yield good setpoint tracking
through the entire unstable region. To fully validate the control design against the
nonlinear plant, apply a variety of setpoint test sequences that test the tracking7 PID Controller Tuning