A process with open-loop model $G(s)=\frac{k e^{-s \mathrm{~T}_{4}}}{t s+1}$ is controlled by a $\text{PID}$ controller.
For this process
- the integral mode improves transient performance
- the integral mode improves steady-state performance
- the derivative mode improves transient performance
- the derivative mode improves steady-state performance.