O'Dwyer, Aidan <br/><br/>
Handbook of PI and PID controller tuning rules / 
Aidan O'Dwyer 
 - 3rd ed. 
 - London :  Hackensack, NJ :  Imperial College Press ;  Distributed by World Scientific Pub.,  c2009 
 - xiii, 608 p. :  ill. ;  24 cm. 
<br/><br/>Includes bibliographical references (p. 565-597) and index 
<br/><br/><label>ISBN: </label>9781848162426 1848162421 
<br/><br/><label>Subjects--Topical Terms: </label><br/>PID controllers