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![Cover for Karl J. Astrom · PID Controllers: Theory, Design and Tuning (Hardcover Book) [Second edition] (1995)](https://imusic.b-cdn.net/images/item/original/169/9781556175169.jpg?karl-j-astrom-1995-pid-controllers-theory-design-and-tuning-hardcover-book&class=scaled&v=1396439366)