2Astrom K J, Hagglund T. Automatic tuning of simple regulators with specifications on phase and amplitude margins. Automatica, 1984, 20 ( 5 ) :645 - 651.
3Hagglund T, Astrom K J. Industrial adaptive controllers based on frequency response techmiques. Automatica, 1991,27(4) :599 - 609.
4Zgorzelski P, Unbehauen H, Niededinski A. A new simple decentralized adaptive multi-variable regulators and its application to multivariable plants, Proc. IFAC 11th World Congress, Tallinn, 1990,4:226-231.
