1. Automatic Tuning of PID controllers;Astrom,1988
2. PID controllers: Theory, Design and Tuning;Astrom,1995
3. 'Model Predictive Control';Camacho,1999
4. 'IMC-PID Controller Design An Extension';Chien;IFAC Proceeding Series,1988
5. 'Generalised Predictive Control' I & II;Clarke;Automatica,1987