Li, S., Khan, A. H., Shao, Z., Wang, Q., & Guan, N. (2020). Which is the best PID variant for pneumatic soft robots an experimental study. IEEE/CAA Journal of Automatica Sinica, 7(2), pp. 451-460. doi:10.1109/jas.2020.1003045

Li, Shuai, Ameer Hamza Khan, Zili Shao, Qixin Wang, and Nan Guan. "Which Is the Best PID Variant for Pneumatic Soft Robots an Experimental Study." IEEE/CAA Journal of Automatica Sinica 7, no. 2 (2020): 451-460.

Li, Shuai, et al. "Which Is the Best PID Variant for Pneumatic Soft Robots an Experimental Study." IEEE/CAA Journal of Automatica Sinica 7.2 (2020): 451-460.