\begin{table*}[htb]
\caption{SIMC PI-controllers ($\tau_{c}=\theta$) and corresponding $J$- and $M_{s}$-values for four processes.}


\begin{centering}
\begin{tabular}{cccccccccccccc}
\toprule 
 & \multicolumn{6}{c}{SIMC PI ($\tau_{c}=\theta$)} &  & \multicolumn{6}{c}{Improved SIMC PI ($\tau_{c}=\theta$)}\tabularnewline
\cmidrule{2-7} \cmidrule{9-14} 
Process  & $K_{c}$  & $\tau_{I}$  & IAE$_{ys}$  & IAE$_{d}$  & $J$  & $M_{s}$  &  & $K_{c}$  & $\tau_{I}$  & IAE$_{ys}$  & IAE$_{d}$  & $J$  & $M_{s}$\tabularnewline
\midrule
$e^{-s}$  & 0  & 0 $^{(*)}$  & 2.17  & 2.17  & 1.35  & 1.59  &  & 0.17  & 0.33  & 1.95  & 1.95  & 1.21  & 1.45\tabularnewline
$\frac{e^{-s}}{s+1}$  & 0.5  & 1  & 2.17  & 2.04  & 1.15  & 1.59  &  & 0.67  & 1.33  & 1.99  & 1.99  & 1.09  & 1.69\tabularnewline
$\frac{e^{-s}}{8s+1}$  & 4  & 8  & 2.17  & 2.00  & 1.38  & 1.59  &  & 4.17  & 8  & 2.14  & 1.92  & 1.34  & 1.62\tabularnewline
$\frac{e^{-s}}{s}$  & 0.5  & 8  & 3.92  & 16  & 1.43  & 1.70  &  & 0.5  & 8  & 3.92  & 16  & 1.43  & 1.70\tabularnewline
\bottomrule
\end{tabular}
\par\end{centering}

\begin{centering}
$^{(*)}$ Pure integral controller with $K_{I}=K_{c}/\tau_{I}=0.5$. 
\par\end{centering}

\label{tabsimcpo} 
\end{table*}