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@ARTICLE{,
    author = {Rodr{\'{\i}}guez, C and Aranda-Escol{\'{a}}stico, E and Guzm{\'{a}}n, J L and Berenguel Soria, Manuel and H{\"{a}}gglund, Tore},
     title = {Revisiting the simplified IMC tuning rules for low-order controllers: Feedforward controller},
   journal = {IET Control Theory & Applications},
    volume = {14},
    number = {12},
      year = {2020},
       doi = {https://doi.org/10.1049/iet-cta.2019.0823},
     pages = {1612--1618}
}