My math is rusty, my control theroy weak. (I am planning to get the book). I was wondering, and I do not have the math to figure it: if the quality desired is to minimize the RMS (or even STD DEV) of the error term when a setpoint change occurs, what is the optimal tuning in terms of underdamped/overdamped/critical-damped response? Sean

-- John "Sean" Cleary (Sean_cleary@bigfoot.com), July 24, 2000