https://wiki.roboforum.ru/index.php?title=%d0%9f%d0%b5%d1%80%d0%b5%d0%b2%d0%be%d0%b4_%d1%81%d1%82%d0%b0%d1%82%d1%8c%d0%b8_%22%d0%9f%d1%80%d0%be%d1%81%d1%82%d0%be_%d0%be_%d0%9f%d0%98%d0%94-%d0%b0%d0%bb%d0%b3%d0%be%d1%80%d0%b8%d1%82%d0%bc%d0%b0%d1%85%22#.D0.9D.D0.B0.D1.81.D1.82.D1.80.D0.BE.D0.B9.D0.BA.D0.B0_.D0.9F.D0.98.D0.94-.D1.80.D0.B5.D0.B3.D1.83.D0.BB.D1.8F.D1.82.D0.BE.D1.80.D0.B0
перевод статьи "PID Without a PhD"