Gain margin. PID tuning. guaranteed performance. unstable zeroBucz, Štefan, 1978- The sine wave tuning method: Robust PID controller design in the frequency domain / aut. Štefan Bucz, Alena Kozáková. Kozáková, Alena, 1960- In: Journal of Electrical Systems and Information Technology. -- ISSN 2314-7172. -- Vol. 2, Iss. 3 (2015), s. 358-367.