@article{Gaw86,
  author = {P. J. Gawthrop},
  cscauthor = {pjg},
  title = {Self-tuning {PID} controllers: Algorithms and
		implementation},
  journal = {IEEE Transactions on Automatic Control},
  volume = {AC-31},
  number = 3,
  pages = {201-209},
  year = 1986
}

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