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2. Daley, S., & Liu, G. P. (1998). Optimal PID tuning using direct search algorithm. Tuning-in to increase profit-developments in PID tuning, IMechE Seminar, London; also, in the IEE Computing and Control Engineering Journal, 10(2), 51–56, 1999.
3. Refinements of the Ziegler–Nichols tuning formula;Hang;IEE Proceedings-D,1991
4. Grace, A. (1994). Optimisation toolbox for use with MATLAB. The MathWorks Inc.
5. Das symmetrische optimum;Kessler;Regelungstetchnik,1958