Geodesic
Determining the settings of PI and PID controllers with a convergent method using computer aided design
Control and Cybernetics, Tome 34 (2005) no. 4, pp. 1075-1091 
Halawa, Janusz. Determining the settings of PI and PID controllers with a convergent method using computer aided design. Control and Cybernetics, Tome 34 (2005) no. 4, pp. 1075-1091. http://geodesic.mathdoc.fr/item/CC_2005_34_4_a5/
@article{CC_2005_34_4_a5,
     author = {Halawa, Janusz},
     title = {Determining the settings of {PI} and {PID} controllers with a convergent method using computer aided design},
     journal = {Control and Cybernetics},
     pages = {1075--1091},
     year = {2005},
     volume = {34},
     number = {4},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CC_2005_34_4_a5/}
}
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