@ARTICLE{Rajinikanth_V._Setpoint_2012, author={Rajinikanth, V. and Latha, K.}, number={No 4}, journal={Archives of Control Sciences}, howpublished={online}, year={2012}, publisher={Committee of Automatic Control and Robotics PAS}, title={Setpoint weighted PID controller tuning for unstable system using heuristic algorithm}, URL={http://journals.pan.pl/Content/84257/PDF/9.pdf}, doi={10.2478/v10170-011-0037-8}, }