@ARTICLE{Żabiński_T._Tuning_2010,
 author={Żabiński, T. and Trybus, L.},
 volume={58},
 number={No 1},
 pages={51-58},
 journal={Bulletin of the Polish Academy of Sciences Technical Sciences},
 howpublished={online},
 year={2010},
 title={Tuning P-PI and PI-PI controllers for electrical servos},
 URL={http://ochroma.man.poznan.pl/Content/82992/PDF/05_paper.pdf},
 doi={10.2478/v10175-010-0005-7},
}