1. Parameter *h* in *W*T

Keeping the other parameters in the weightings unchanged, the parameter *h* was varied from 0 to 0.3 to examine its influence. The dynamics were calculated via the step response, which is shown in Figure 8. With the increase in parameter *h*, the settling time decreased first and then increased rapidly. The overshoot almost remained unchanged at the beginning and then increased quickly, while the steady-state error decreased quickly and then remained unchanged.

**Figure 8.** Effect of parameter *h* on *W*T. (**a**) Settling time; (**b**) overshoot; (**c**) steady-state error.
