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    • Integral action controllers for systems with time delays 

      Özbay, Hitay; Gündeş, A. N. (Springer, 2009)
      Consider a stabilizing controller C 1 for a given plant P. If C 1 and P do not have any zeros at the origin, then one can use a cascade connected PI (proportional plus integral) controller C pi with C 1 and keep the feedback ...