http://controlguru.

com/process-gain-is-the-how-far-variable/
http://homepages.ed.ac.uk/jwp/control06/controlcourse/restricted/course/advanced/
module4.html
http://inside.mines.edu/~jjechura/ProcessDynamics/14_ZieglerNicholsExample.pdf
https://www.siam.org/books/dc14/DC14Sample.pdf
http://homepages.ed.ac.uk/jwp/control06/controlcourse/restricted/course/advanced/
module4.html
http://badank-expression.blogspot.my/2008/12/pid-control-control-tuning.html
http://ecetutorials.com/process-control/pid-controller-tuning-techniques/
http://www.slideshare.net/MiteshKumar15/pid-controller-by-mitesh-kumar
http://controlguru.com/ziegler-nichols-tuning-poor-choice-for-production-processes/

http://ctms.engin.umich.edu/CTMS/index.php?
example=Introduction&section=ControlPID
http://www.expertune.com/artCE87.aspx