Figure8
![Stability-preserving automatic tuning of PID control with reinforcement learning](https://image.oaes.cc/4d3e2ccf-effe-4fc3-8d8e-0b3381829243/4601-8.jpg)
Figure 8. Comparison of the adaptivity of RL-based PID auto-tuning (our approach), gain-scheduling PID, and the fixed baseline PID controller to the process gain change. Left: episodic rewards (the negative of mean squared tracking error) for these methods; Right: The ultimate CV profiles after the PID adapts to the new process gain based on these methods. Note that that green color shows the results where a fixed baseline PID from Case 2 is used throughout the entire experiment.