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Generalized Optimal and Explicit PI/PID Tuning Formulas for..:

Albatran, Saher ; Smadi, Issam A. ; Bataineh, Hussein A.
International Journal of Control, Automation and Systems.  18 (2019)  4 - p. 1023-1032 , 2019
Link: https://doi.org/10.1007/s12555-019-0178-2