The paper presents a new method for obtaining fast response to set point changes by using a nonlinear feedforward which is obtained by solving a nonlinear equation. Pulse-step control is simple and gives a settling time close to the time where the impulse response reaches its maximum. The fact that the response time is matched to the process dynamics makes the method more robust than time-optimal control. The feedforward generated by pulse-step control can conveniently be combined with feedback based on PID control.