1. Robust Control: The Parameter Space Approach - 2nd ed.;Ackermann,2002
2. A look into robustness/performance and servo/regulation issues in PI tuning;Alcantara,2012
3. Advanced PID Control;Arström,2006
4. Optimal PI-Control and Verifcation of the SIMC Tuning Rule;Grimholt,2012
5. Signal Filtering in PID Control;Hägglund,2012