@article{Margalith1982OptimumSF,
title={Optimum Setting for Proportional Controller},
author={Aviram Margalith and Harry W. Mergler},
journal={IEEE Transactions on Industrial Electronics},
year={1982},
volume={IE-29},
pages={165-175}
}

Published 1982 in IEEE Transactions on Industrial Electronics

On the basis of four common criteria¿integral square error (ISE), integral absolute error (IAE), time integral-square-error (ITSE), and time integral absolute error (ITAE)¿optimal lines for typical sampled data servo drives for computer numerical control (CNC) are derived and approximated by simple equations. The objective is to provide the control engineer with a simple equation for the selection of the control parameters. A line of critical damping is also derived and simply approximated.