Fig. 9

a The mappings of steady-state input-output signals of PI controller and CMC controller simulated 1060 times for Δ = 1.0. Nominal systems are shown in thick dotted grey line. b The mapping of steady-state input-output signals of the PI controller (top row) and the CMC controller (bottom row) when controlling the nonlinear process. Black solid line: Nominal system. Green dash-dotted line: worst-case response for Δ = 1.0. c The zoomed-in version of the mapping of steady-state input-output signals of the PI controller (bold line) and the CMC controller (thin line) for M _OV from (B). Black solid line: Nominal system. Green dash-dotted line: worst-case response for Δ = 1.0