A theory for optimal PI-control of multivariable linear systems: Gustafsson, Sten E.: Acta Polytechnica Scandinavica, Mathematics and Computer Science Series No. 27. Helsinki 1975. 31 pp. ISBN 951-666-069-X
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论文评审过程：Available online 20 April 2006.
论文官网地址：https://doi.org/10.1016/0771-050X(76)90006-1
