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Tuning of Multivariable Decentralized Controllers Through the Ultimate-Point Method

CAMPESTRINI, L., STEVANATTO FILHO, L. C., BAZANELLA, A. S., Tuning of Multivariable Decentralized Controllers Through the Ultimate-Point Method, IEEE Transactions on Control Systems Technology, ISSN: 1063-6536, 2009. DOI: 10.1109/TCST.2008.2006495