% Forhåndsvist kildekode for avsnitt 0

\begin{table*}



\begin{centering}

\caption{Optimal PI-controllers ($M_{s}=1.59$) and corresponding IAE-values
for four processes.}
\label{tabref0}

\begin{tabular}{ccccccccccccccc}
\toprule 
 & \multicolumn{3}{c}{Setpoint} &  & \multicolumn{3}{c}{Input disturbance} &  & \multicolumn{6}{c}{Optimal combined (minimize $J$)}\tabularnewline
\cmidrule{2-4} \cmidrule{6-8} \cmidrule{10-15} 
Process  & $K_{c}$  & $\tau_{I}$  & ${\rm IAE}_{ys}^{\circ}$  &  & $K_{c}$  & $\tau_{I}$  & ${\rm {\rm IAE}}_{d}^{\circ}$  &  & $K_{c}$  & $\tau_{I}$  & IAE$_{ys}$  & IAE$_{d}$  & $J$  & $M_{s}$\tabularnewline
\midrule
$e^{-s}$ & 0.20  & 0.32  & 1.609  &  & 0.20  & 0.32  & 1.609  &  & 0.20  & 0.32  & 1.607  & 1.607  & 1 & 1.59\tabularnewline
$\frac{e^{-s}}{s+1}$  & 0.54  & 1.10  & 2.073  &  & 0.50  & 1.0  & 2.016  &  & 0.54  & 1.10  & 2.087  & 2.038  & 1.00  & 1.59\tabularnewline
$\frac{e^{-s}}{8s+1}$ & 4.0  & 8  & 2.171  &  & 3.34  & 3.7  & 1.134  &  & 3.46  & 4.0  & 3.096  & 1.164  & 1.23  & 1.59\tabularnewline
$\frac{e^{-s}}{s}$  & 0.50  & $\infty$  & 2.174  &  & 0.40  & 5.8  & 15.09  &  & 0.41  & 6.3  & 4.318  & 15.38  & 1.50  & 1.59\tabularnewline
\bottomrule
\end{tabular}

IAE$_{ys}$ is for a unit setpoint change. IAE$_{d}$
is for a unit input disturbance. 
\par\end{centering}
\end{table*}
