Two-Degree-of-Freedom PID Controllers

@inproceedings{Araki2003TwoDegreeofFreedomPC,
  title={Two-Degree-of-Freedom PID Controllers},
  author={Mituhiko Araki and Hidefumi Taguchi},
  year={2003}
}
Important results about two-degree-of-freedom PID controllers are surveyed for the tutorial purpose, including equivalent transformations, various explanations about the effect of the two-degree-of-freedom structure, relation to the preceded-derivative PID and the I-PD controllers, and an optimal tuning method. 
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