Fig. 3
From: The dawn of physiological closed-loop ventilation—a review
Setpoint tracking and disturbance rejection shown for an illustrative example. A good controller ensures that the measured etCO2 closely follows the setpoint. At t1, a setpoint change (change in target) requires an increase in minute volume (bottom graph). At t2, a sudden increase in CO2 (disturbance) requires another increase in MV