"Process Control Systems" by F. Greg Shinskey, available from the Foxboro Training Institute at 1-888-FOXBORO.
Controller Tuning and Control Loop Performance: A Primer, Second Edition, Subtitled PID Without the Math, by David W. St. Clair (Retired DuPont Engineer)
Process Instrumentation Applications Manual, by Bob Connel, McGraw-Hill Book Co., 1996
References used by Kees ("Case") Stolk while developing NIST tuning software:
Modeling of DC Motors, Kuo, Benjamin C., Automatic Control Systems, Prentice-Hall, Englewood Cliffs, NJ, 1981.
Nonlinear Least Squares Model Fitting, Press, William H. et al, Numerical Recipes in C: the Art of Scientific Computing, Cambridge University Press, Port Chester, NY, 1992.
PID controllers, Åstrom, K., and Haglund, T., PID Controllers: Theory, Design and Tuning, Instrument Society of America, Research Triangle Park, NC, 1995.
"Internal Model Control", Rivera, M., Internal Model Control for PID Controller Design, 1986.Credits