The scaling and parameterization methods described here apply to {HEAD ~ transfer function based controllers}, including {TAIL ~ PID controllers} 
including
The scaling and parameterization methods described here apply to { HEAD ~ transfer function based controllers } , including { TAIL ~ PID controllers }
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH REL TAIL TAIL TAIL TAIL TAIL TAIL