AITL DEMO (2-tier) — Same persistent disturbance, different outcome
PID ONLY (No FSM)
fails: cannot remove steady-state error
Disturbance:
persistent load
Outcome:
does not return to setpoint
Setpoint
Response
Disturbance
AITL (PID + FSM supervision)
recovers: FSM authorizes bias cancellation
Disturbance:
same persistent load
FSM trigger:
|e| > 0.20 for a while
Outcome:
returns to setpoint
Setpoint
Response
Disturbance