MATLAB m-files used in reaserch publications may be downloaded for academic use in the following

• Tuning PID controllers, Di Ruscio and Dalen (2017): pi_tun_maxdelay.m  pd_tun_maxdelay.m  pid_tun_maxdelay.m
• LQ optimal control with integral action, Di Ruscio (2012): dlqdu_pi.m