# PI and PID controller tuning rule design for processes with delay, to achieve constant gain and phase margins for all values of delay

> Research article (Arrow - TU Dublin (Technological University Dublin), 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W1497331646](https://www.wikidata.org/wiki/openalex:W1497331646)  
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