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O. Arrieta, Vilanova, R., and Alfaro, V. M., Balanced Performance/Robustness PID Design, in Intelligent Control and Innovative Computing, Springer-Verlag, 2012.
R. Vilanova, Alfaro, V. M., and Arrieta, O., Robustness in PID control, in In PID Control in the third Millenum: Lessons learned and new approaches, Spinger Verlag, 2012.
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