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The Autotuner (see Autotuning on page 193) should be used to set controller
parameters in each parameter range set. A parameter set is active when the reference
signal is between its range limits. Autotuning can only be performed in an active
parameter set range. When the reference signal is close to a limit, autotuning may
give poor results. All tuning values, including adaptive controller values, are stored
in the gain scheduling table.
