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Optimized Ziegler-Nichols based PID control design for tilt..:

Hassan, Fazilah ; Zolotas, Argyrios C ; Smith, Tim
https://eprints.lincoln.ac.uk/id/eprint/29055/1/29055%20paper_template_jestr_hassan.pdf.  , 2017
Link: https://eprints.lincoln.ac.uk/id/eprint/29055/