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This simple structure guarantees internal stability for stable plants. Morari proves that is achieved by increasing λ (the filter time constant). The larger λ, the more uncertainty you can tolerate, but the slower your response.
If you are a process engineer working with slow chemical processes (temperature loops, concentration control), the framework is still the industry standard. Robust Process Control Morari Pdf Download
Elias packed his laptop. He was going in. the more uncertainty you can tolerate