@article{modelbasedpolicysearchforautomatic,
  title = {Model-Based Policy Search for Automatic Tuning of Multivariate PID Controllers},
  author = {Andreas Doerr and Duy Nguyen-Tuong and Alonso Marco and Stefan Schaal and Sebastian Trimpe},
  year = {2017},
  eprint = {1703.02899},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1703.02899v1},
}