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- Robust tuning of 2DoF five-parameter PID controllers for inverse response controlled processes. 23:453-462. 2013
- Model-reference robust tuning of 2 DOF PI controllers for first- and second-order plus dead-time controlled processes. 22:359-374. 2012
- PID Autotuning for Weighted Servo/Regulation Control Operation. 20:472-480. 2010
- Robust Tuning of Two-Degree-of-Freedom (2-DOF) PI/PID based Cascade Control Systems. 19:1658-1670. 2009