Michael A Johnson & Mohammad H. Moradi 
PID Control [PDF ebook] 
New Identification and Design Methods

PID Control Technology.- Some PID Control Fundamentals.- On-line Model-Free Methods.- Automatic PID Controller Tuning — the Nonparametric Approach.- Relay Experiments for Multivariable Systems.- Phase-Locked Loop Methods.- Phase-Locked Loop Methods and PID Control.- Process Reaction Curve and Relay Methods Identification and PID Tuning.- Fuzzy Logic and Genetic Algorithm Methods in PID Tuning.- Tuning PID Controllers Using Subspace Identification Methods.- Design of Multi-Loop and Multivariable PID Controllers.- Restricted Structure Optimal Control.- Predictive PID Control.