1. PID Controllers: Theory, Design, and Tuning;Åström,1995
2. Maximizing Performance and Robustness of PI and PID Controllers by Global Optimization;Carotenuto,2002
3. Modern Control Systems;Dorf,1998
4. Development and Application of a Novel Tool for PID Controller Design;Faccin,2004
5. Performance Limitations of Some Industrial PID Controllers;Faccin,2004