PI Tuning in Terms of Gain and Phase Margins. - Ho-Wang Fung; Qing-Guo Wang; Tong Heng Lee (Autom., 1998)

PID tuning for improved performance. - Qing-Guo Wang; Tong Heng Lee; Ho-Wang Fung; Qiang Bi; Yu Zhang (IEEE Trans. Control. Syst. Technol., 1999)