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![Cover for Cheng-Ching Yu · Autotuning of PID Controllers: A Relay Feedback Approach (Paperback Book) [2nd ed. 2006 edition] (2012)](https://imusic.b-cdn.net/images/item/original/460/9781849965460.jpg?cheng-ching-yu-2012-autotuning-of-pid-controllers-a-relay-feedback-approach-paperback-book&class=scaled&v=1408604587)