“Balancing Robot Beroda Dua Menggunakan Metoda Kontrol Proporsional, Integral Dan Derivatif”. Jurnal Elektro dan Mesin Terapan 2, no. 1 (May 30, 2016): 34–42. Accessed September 20, 2026. http://ns1.pelatihan-osn.com/index.php/elementer/article/view/48.