@article{difflooptuningpidcontrollersby,
  title = {DiffLoop: Tuning PID controllers by differentiating through the feedback loop},
  author = {Athindran Ramesh Kumar and Peter J. Ramadge},
  year = {2021},
  eprint = {2106.10516},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2106.10516v3},
}