Complementary rules to Ziegler and Nichols' rules for a regulating and tracking controller

Traditionally, PID controllers are designed either as regulating or as tracking controllers because, usually, it is not possible to fulfil both functions simultaneously. Designing rules complementary to Ziegler and Nichols ones are introduced. They allow, using a special connection of the classical PID, the tracking behaviour to be improved without modifying the regulating characteristics.