Fig. 7From: Exploiting the dynamic properties of covalent modification cycle for the design of synthetic analog biomolecular circuitry Top row: PI controller + nonlinear process. Bottom row: CMC controller + nonlinear process. Nominal and worst cases of t r , t s , M OV and e ss with Δ = 0.2, 0.5 and 1.0. Black line: Nominal system. Red line: worst-case response for Δ = 0.2, Blue line: worst-case response for Δ = 0.5, Green line: worst-case response for Δ = 1.0Back to article page