“…Ziegler and Nichols [56] had already observed that for a "miserably designed process" even the finest controller may not deliver the desired performance. Hence, already in the process design phase it is important to have a thorough understanding of how a process unit will limit the achievable performance of the controlled unit [2], [11], [31], [43], [45]. Obviously, such an understanding is also important for controller design [7], [29], [33], [35], [42], [46], [56].…”