@article {34936,
	title = {Adaptive PID Controller with Parallel Feedforward Compensator for MIMO Systems},
	journal = {Communications in Control Science and Engineering(CCSE)},
	volume = {1},
	year = {2013},
	pages = {41-49},
	author = {R. A. Fahmy and R.I. Badr and A.A. Abouelsoud and F. A. Rahman}
}
