1. V. Holtta, L. Palmroth, L. Eriksson, Rapid control prototyping tutorial with application examples, Sim-Serv, (2004)
2. H.N. Koivo, A. Reijonen, Tuning of PID controllers for varying time-delay systems. IEEE Int. Conf. on Mechatronics (ICM.04), (2004)
3. P.H. Lewis, C. Yang, Basic Control Systems Engineering, (Prentice Hall, 1997)
4. B. Lincoln, Dynamic Programming and Time—Varying Delay Systems, Ph.D. thesis, Department of Automatic Control, Lund Inst. of Tech., (2003)
5. V. Lucan, P. Simacek, J. Seppälä, H. Koivisto, Bluetooth and Wireless LAN Applicability for Real-Time Control (Automation, Helsinki, Finland, 2003)