Robust PID Controller Tuning Using Multiobjective Optimization Based on Clonal Selection of Immune Algorithm.

Dong Hwa Kim Jae Hoon Cho Robust PID Controller Tuning Using Multiobjective Optimization Based on Clonal Selection of Immune Algorithm. 50-56 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3213&spage=50 2004 conf/kes/2004-1 KES db/conf/kes/kes2004-1.html#KimC04