Yu, Cheng-Ching <br/><br/>
Autotuning of PID controllers :  a relay feedback approach / 
Cheng-Ching Yu 
 - 2nd ed. 
 - London :  Springer-Verlag,  2006 
 - 261 p. :  ill. ;  24 cm 
<br/><br/><label>ISBN: </label>1846280362 
<br/><br/><label>Subjects--Topical Terms: </label><br/>PID controllers