Figure from: mic-paper

1. Book: Advanced Control Engineering

2. Lecture from University of Texas: Lecture on PID controller tuning

3. Dobious ways of calculating the matrix exponential Phi: paper

4. PID tuning of integrating pluss time lag systems. MIC-paper

5. Feedback still the best solution

6. Ziegler and Nichols original 1942 paper

7. Model Free DP: DSR inside