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Reference

If you want to know more about autotuning...

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

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