Robust IMC-PID tuning for cascade control systems with gain and phase margin specifications

Azar AT and Serrano FE (2014) Robust IMC-PID tuning for cascade control systems with gain and phase margin specifications. Neural Computing and Applications, 25(5): 983-995 Springer. DOI 10.1007/s00521-014-1560-x. [ISI Indexed: Impact Factor: 1.569].