1. PID Controllers: Theory, Design and Tuning;Åström,1995
2. Benchmark Systems for PID Control;Åström,2000
3. Blickley, G.J. (1990). Modern control started with Ziegler-Nichols tuning, Control Engineering, October, pp. 11–17.
4. PID Controller Design for Specified Performance;Bucz,2012
5. Easy Tuning of Robust PID Controllers Based on the Designoriented Sine Wave Type Identification;Bucz;ICIC Express Letters,2011