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\bibitem[{Rivera et~al.(1986)Rivera, Morarl, and Skogestad}]{Rivera:86}
Rivera, D.E., Morarl, M., and Skogestad, S. (1986).
\newblock Internal model control. 4. pid controller design.
\newblock \emph{Ind. Eng. Chem. Process Des. Dev.}, 25, 252--256.

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