Relay-based gain and phase margins PI controller design

@article{Arruda2003RelaybasedGA,
  title={Relay-based gain and phase margins PI controller design},
  author={Gustavo H. M. de Arruda and P{\'e}ricles R. Barros},
  journal={IEEE Trans. Instrumentation and Measurement},
  year={2003},
  volume={52},
  pages={1548-1553}
}
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