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PID controller tuning for a multivariable glass furnace pro..:

Rajarathinam, Kumaran ; Gomm, James Barry ; Yu, Ding-Li.
International Journal of Automation and Computing.  13 (2016)  1 - p. 64-72 , 2016
Link: https://doi.org/10.1007/s11633-015-0910-1