If you want to know more about autotuning...
(Åström and Hägglund, 1995)
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K.J. Åström and T. Hägglund (1995). PID controllers: theory, design and tuning - Second Edition.
Instrument Society of America. Research Triangle Park
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(Leva et al., 2002)
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A. Leva, C. Cox and A. Ruano (2002). Hands-on PID PID autotuning:
a guide to better utilization.
IFAC Professional Brief
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(Morari and Zafiriou, 1989)
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M. Morari and E. Zafiriou (1989). Robust Process Control.
Prentice-Hall
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(O’ Dwyer, 2003)
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A. O’ Dwyer (2003). Handbook of PI and PID
controller tuning rules. World Scientific, New Jersey.
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(Ziegler and Nichols, 1942)
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J.G. Ziegler and N.B Nichols (1942). Optimum settings
for automatic controllers, Trans. ASME 64, 759-768.
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