?url_ver=Z39.88-2004&rft_id=10.1063%2F1.5095302&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Biyanto%2C+T.R.&rft.aufirst=T.R.&rft.aulast=Biyanto&rft.date=2019&rft.isbn=9780735418189&rft.title=Comparison+on+PID+controller+performance+for+multivariable+system+between+de-tuned+method+and+optimization+method&rft.issn=0094243X&rft.genre=proceeding