Simulink Control Design™ - MathWorks

Which design is most suitable depends on the primary purpose of the feedback loop you

are tuning.

Tuning of 2-DOF PID Controller

If you cannot compromise tracking to improve disturbance rejection, consider using a 2-

DOF architecture instead. A 2-DOF PID controller is capable of fast disturbance rejection

without significant increase of overshoot in setpoint tracking.

13 Control System Tuning Examples