3.2.3. Influence of *W*R

The weightings *W*S and *W*T were kept unchanged, and the weighting *W*R was varied from 0 to 1.5. The dynamics were calculated via the step response, which is shown in Figure 11. With the increase in weighting *W*R, the settling time increased. When the weighting *W*R increased in a very small range near zero, the overshoot decreased quickly. Then, the overshoot almost remained at zero with the increase in *W*R. The steady-state error fluctuated at a relatively small value. Hence, it is recommended that a small positive number is used for weighting *W*R.

**Figure 11.** Effect of *W*R. (**a**) Settling time; (**b**) overshoot; (**c**) steady-state error.
