1. Optimum settings for automatic controllers;Ziegler;ASME Trans.,1942
2. Theoretical consideration of retarded control;Cohen;ASME Trans.,1953
3. Internal model control, 4. PID Controller Design;Rivera,1986
4. IMC-PID controller design — An extension;Chien,1988
5. Consider IMC tuning to improve controller performance;Chien;Chemical Engineering Progress,1990