Design of a Self-tuning PID Controller. Gawthrop, P. J. Technical Report 88.3, glasgow, 1988.
bibtex   
@techreport{Report88.3,
  author = {P. J. Gawthrop},
  title = {Design of a Self-tuning {PID} Controller},
  type = control,
  institution = glasgow,
  number = {88.3},
  year = 1988
}

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