5Astrom KJ,Hagglund T.Automatic tuning of simple regulators with specifications on phase and amplitude margins[].Automatica.1984
6Hagglund T,Astrom K J.Industrial adaptive controllers based on frequency response techniques[].Automatica.1991
7Astrom KJ,Hagglund T.PID Controllers: Theory, Design, and Tuning[]..1995
8K. K. Tan,T. H. Lee.Enhanced Automatic Tuning Procedure for Process Control of PI/PID Controllers[].American Institute of Chemical Engineers Journal.1996
9Ziegler,J. G.,Nichols,N. B.Optimum settings for automatic controllers[].Transactions of the ASME.1943
