2Banyasz C S, Keviczky L. Direct methods for self-tuning PID regulators. IFAC Identification and System Parameter Estimation, Washington D.C. USA, 1982,(2):1359.
3Wang K Y, Bayoumi M M. A self-tuning algorithm for system with unknow-time delay. IFAC Identification and System Parameter Estimation, Washington D. C. USA,1982;(2) :1193.