1. ÅSTRÖM, K.J., and HÄGGLUND, T.: PID controllers: theory, design, and tuning, 2nd edn(Instrument Society of America, Research Triangle Park, NC 1995)
2. SEBORG, D.E., EDGAR, T.F., and MELLICHAMP, D.A.: Process dynamics and control, (Wiley, New York 1989)
3. Automatic tuning of decentralized PID controllers for MIMO processes
4. Autotuning of multiloop proportional-integral controllers using relay feedback