https://oleoalmanzora.com/oleoturismo-en-pulpi/ Chapter 1: Introduction
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Chapter 5: Dynamic Behaviour of Ideal Systems
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Chapter 7: PID Controller Tuning
Chapter 8: Frequency Response Analysis
Chapter 9: Cascade, Ratio, and Feedforward Control
Chapter 10: PID Enhancements
Chapter 11: PID Implementation Issues
Link to Textbook: Chemical and Bio Process Control by James Rigg