Setpoint Tracking vs. Disturbance Rejection for Stable and Unstable Processes

The issue of controller tuning for setpoint tracking versus disturbance rejection has been discussed in the process control literature for many years. The purpose of this paper is to review and explain the problem and to point out solution procedures. We do not make any claims about developing anything novel. We merely summarize what is available at different places in the literature and put it in perspective in a tutorial manner.