Control of Continuous Linear Systems
May 2006, Wiley-ISTE
The author provides coverage of the ideas behind the developments of the main PID tuning techniques, as well as presenting the proof of the Routh–Hurwitz stability criterion and giving some new results dealing with the design of root locus.
Chapter 1. On process modeling.
Chapter 2. Laplace transforms and block diagrams.
Chapter 3. Analysis.
Chapter 4. Stability and the root locus.
Chapter 5. Regulation and PID regulators.
Appendix A. On Theoretical Aspects.