although the reasoning behind the methods is completely
different. Neither of the two can guarantee
closed-loop stability, yet the orders of the controllers
are significantly lower than those of the other three
methods considered herein. Again, due to the similar
structure of the controllers, it is possible to find a parameterization
that yields approximately the same control
performance. It is notable that the IHC method is
the only one of the control laws considered herein that
is not a model-based approach, a property that is very
beneficial in complex, relatively robust processes. The
full analysis on the performance of the controllers will
be done in the subsequent section.