However, there were no significant

However, there were no significant differences in the transient char-acteristics of Ta and T with sampling times of 30s and 50s due to thefast saturation of the manipulated vari able. On the other hand, whenthe sampling time was larger than a specific value, the effect of ee wasalmost negligible because the manipulated variables became verysmall. In the steady-state, To and T showed a slight undershoot with asampling time of 10s, and a slight steady-state error with 50s. As aresult, the most favorable steady-state was observed with the proposedsampling time of 30s. The experimental results in Fig. 14 showed si-milar trends with the simulation results.