@inbook {1873,
	title = {Advances in PID Control},
	year = {2011},
	pages = {85{\textendash}100},
	publisher = {INTECH},
	organization = {INTECH},
	chapter = {From Basic to Advanced PI Controllers: A Complexity vs. Performance Comparison},
	keywords = {Robotics},
	isbn = {9789533072678},
	author = {A. Balestrino and A. Caiti and V. Calabr{\`o} and E. Crisostomi and A. Landi}
}
