document: Control of integral processes with dead-time . 2 . Quantitative analysis For part 1 , see ibid. , p.285-90 , -LRB- 2002 -RRB- . Several different control schemes for integral processes with dead time resulted in the same disturbance response . It has already been shown that such a response is subideal . Hence , it is necessary to quantitatively analyse the achievable specifications and the robust stability regions . The control parameter can be quantitatively determined with a compromise between the disturbance response and the robustness . Four specifications : -LRB- normalised -RRB- maximum dynamic error , maximum decay rate , -LRB- normalised -RRB- control action bound and approximate recovery time are used to characterise the step-disturbance response . It is shown that any attempt to obtain a -LRB- normalised -RRB- dynamic error less than tau / sub m / is impossible and a sufficient condition on the -LRB- relative -RRB- gain-uncertainty bound is square root -LRB- 3 -RRB- / 2
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