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download%3Fdoi=10.1.1.154.240&rep=rep1&type=pdf
download%3Fdoi=10.1.1.154.240&rep=rep1&type=pdf
http://citeseerx.ist.psu.edu/viewdoc/download%3Fdoi=10.1.1.154.240&rep=rep1&type=pdf
PID controller
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download%3Fdoi=10.1.1.154.240&rep=rep1&type=pdf
http://citeseerx.ist.psu.edu/viewdoc/download%3Fdoi=10.1.1.154.240&rep=rep1&type=pdf