Control of Stable Plants 16.1 The Quasi-Ho Smith Predictor 26.2 The H2 Optimal Controller and the Smith Predictor 36.3 Equivalents of the Optimal Controller 46.4 The PID Controller and High-Order Controllers 56.5 Choice of Weighting Functions 66.6 Simplified Tuning for Quantitative Robustness 4口，+@，4定4定90C Zhang.W.D..CRC Press.2011 Version 1.0 2/74Control of Stable Plants 1 6.1 The Quasi-H∞ Smith Predictor 2 6.2 The H2 Optimal Controller and the Smith Predictor 3 6.3 Equivalents of the Optimal Controller 4 6.4 The PID Controller and High-Order Controllers 5 6.5 Choice of Weighting Functions 6 6.6 Simplified Tuning for Quantitative Robustness Zhang, W.D., CRC Press, 2011 Version 1.0 2/74