The original Ziegler-Nichols parameters are developed in the following paper: Ziegler, J. G., and N. B. Nichols , “Optimum Settings for Automatic Controllers,” Trans. ASME, 64, 759–768 (1942).
The Cohen-Coon parameters are developed in the following paper: Cohen, G. H., and G. A. Coon , “Theoretical Considerations of Retarded Control,” Trans. ASME, 75, 827 (1953).
The Tyreus-Luyben parameters are presented in the following textbook: Luyben, M. L., and W. L. Luyben , Essentials of Process Control, McGraw-Hill, New York (1997).