Åström, Karl J. <br/><br/>
Advanced PID control / 
Karl J. Astrom, Tore Hagglund 
 - Research Triangle Park, NC :  ISA-The Instrumentation, Systems, and Automation Society,  c2006 
 - xii, 460 p. :  ill. ;  26 cm. 
<br/><br/>Includes bibliographical references (p. 433-455) and index 
<br/><br/><label>ISBN: </label>9781556179426 1556179421 
<br/><br/><label>Subjects--Topical Terms: </label><br/>PID controllers