Fakhri Karray Wail Gueaieb Salah Al-Sharhan The hierarchical expert tuning of PID controllers using tools of soft computing. 77-90 2002 32 IEEE Transactions on Systems, Man, and Cybernetics, Part B 1 db/journals/tsmc/tsmcb32.html#KarrayGA02 http://dx.doi.org/10.1109/3477.979962