C1:Introducción p.1 C2:Realy Feedback p.7 C3:Improved realy feedback p.25 C4:Systems with unstable zeros or poles p.49 C5:Multivariable Systems p.67 C6:Load Disturbance P:109 C7:Process Nonlinearity P.129 C8:Controller Monitoring P.153 C9:Autotuning for plantwide control systems p.117 C10:Guidelines for autotune procedure p.205.
