1. Optimum settings for automatic controllers;Ziegler;Trans. ASME,1942
2. Theoretical considerations of retarded control;Cohen;Trans. ASME,1953
3. Controller tuning relationships based on integral performance criteria;Lopez;Instrum. Technol.,1967
4. PID Controllers: theory, design, and tuning;Astrom,1995
5. A new tuning rule and modified PID controller;Sung;Ind. Eng. Chem. Res.,1995