1. Automatic tuning of simple regulators with specifications on phase and amplitude margins;Åström;Automatica,1984
2. Revisiting the Ziegler- Nichols step response method for PID control;Åström;J. Process. Contr.,2004
3. Bejarano G, Alfaya A., Rodríguez D., Ortega M.G., Morilla F., “Benchmark for PID control of Refrigeration Systems based on Vapour Compression”, PDF paper available at http://servidor.dia.uned.es/~fmorilla/benchmarkPID2018/RSBenchmark_Main_document.pdf, 2017
4. Chen YQ, Moore KL, Vinagre BM, Podlubny I. “Robust PID controller autotuning with a phase shaper”, In: Proceedings of the First IFAC workshop on fractional differentiation and its applications, Bordeaux, France, pp. 162-167, 2004
5. Relay feedback tuning of robust PID controllers with iso-damping property;Chen;Trans. Syst. Man. Cybern.,2005