Paper has been reprinted with some additional comments

Modeling, Identification and Control (MIC), Vol. 25, No. 2, April 2004
S. Skogestad, "Simple analytic rules for model reduction and
  PID controller tuning" ....................................  85 

Typo:

Table 1, In footnotes c and d, eq. (1) and (27) should be interchanged,