  According to the well-known loop-shaping control design approach, the
steady-state precision of control systems can be improved by stacking
integrators. However, due to the waterbed effect in linear control systems,
such an action will worsen the transient response by increasing overshoot and
creating wind-up problems. This paper presents a new architecture for rest
control systems that can significantly decrease the overshoot and create a
no-overshoot performance even in presence of stacked integrators. The
steady-state analysis of the proposed system will also show that improved
precision expected due to stacked integrators can be achieved as well. A
numerical simulation study is presented to verify the results and the tuning
guide presented.
