Performance and gain and phase margins of well-known PID tuning formulas

@article{Ho1996PerformanceAG,
  title={Performance and gain and phase margins of well-known PID tuning formulas},
  author={Weng Khuen Ho and O. P. Gan and Ee Beng Tay and E. L. Ang},
  journal={IEEE Trans. Contr. Sys. Techn.},
  year={1996},
  volume={4},
  pages={473-477}
}
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