1. Tuning of IMC based PID controllers for integrating systems with time delay.
2. PID control in the third millennium: lessons learned and new approaches;O’Dwyer),2012
3. Model-reference robust tuning of PID controllers;Alfaro,2016
4. Computer-controlled systems: theory and design;Åström,2013
5. K.J. Åström, T. Hägglund, K.J. Astrom, Advanced PID control (2006).