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Q. Wang, C. Lin, Z. Ye, G. Wen, Y. He and C. Hang, “A Quasilmi Approach to Computing Stabilizing Parameter Ranges of Multi-Loop Pid Controllers,” Journal of Process Control, Vol. 17, No. 1, 2007, pp. 59-72. doi:10.1016/j.jprocont.2006.08.006

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