@article{Babuska2002FuzzySelfTuning,
author      = {R. Babu\v{s}ka  and J. Oosterhoff and A. Oudshoorn and P.M. Bruijn},
title       = {Fuzzy Self-Tuning {PI} Control of {pH} in Fermentation},
journal     = {Engineering Applications of Artificial Intelligence},
year        = {2002},
volume      = {15},
pages       = {3--15}
}