Erdal, Cevat. “A Method to Determine the Critical Parameter Tolerances for a Proportional-Integral-Derivative (PID) Controller”. ITU ARI Bulletin of Istanbul Technical University 53, no. 01 (May 1, 2003): 124–126. Accessed May 18, 2024. https://ari.itu.edu.tr/index.php/ituari/article/view/29.