The sine wave tuning method: Robust PID controller design in the frequency domain / aut. Štefan Bucz, Alena Kozáková
Bucz Štefan  Kozáková Alena ; E400
Journal of Electrical Systems and Information Technology . Vol. 2, Iss. 3 (2015), s. 358-367
Gain margin PID tuning guaranteed performance unstable zero
http://www.sciencedirect.com/science/article/pii/S2314717215000562
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