What is the difference between regulatory and servo control performance?

Regulatory control focuses on rejecting disturbances while maintaining setpoint (disturbance rejection) - most common in process control where setpoints change rarely. Servo control focuses on tracking setpoint changes (setpoint tracking) - important when setpoints change frequently. Tuning priorities differ: regulatory tuning emphasizes disturbance rejection with minimal overshoot; servo tuning emphasizes fast setpoint tracking with acceptable overshoot. Two-degrees-of-freedom control allows independent optimization of both by separating setpoint and PV paths through the controller.