1. Optimal Control: Linear Quadratic Methods;Anderson,1989
2. PI/PID controller tuning via LQR approach;He;Chem. Eng. Sci.,2000
3. Jian-Bo He, Qing-Guo Wang, Tong-Heng Lee, PI/PID controller tuning via LQR approach, in: Proceedings of the 37th IEEE Conference on Decision and Control, vol. 1, Tampa, USA, December 1998, pp. 1177–1182.
4. Performance limitation and autotuning of inverse optimal PID controller for Lagrangian systems, ASME;Choi;J. Dyn. Sys., Measure., Control,2005
5. PID control of MIMO process based on rank niching genetic algorithm;Arruda;Appl. Intell.,2008