https://www.ise.ncsu.edu/wp-content/uploads/2017/02/Bainbridge_1983_Automatica.pdf https://www.ise.ncsu.edu/wp-content/uploads/2017/02/Bainbrid... This seems p

https://www.ise.ncsu.edu/wp-content/uploads/2017/02/Bainbridge_1983_Automatica.pdf https://www.ise.ncsu.edu/wp-content/uploads/2017/02/Bainbrid... This seems pretty relevant.