Hasanah, Nurul, - Alrijadjis, and Bambang Sumantri. 2019. “Modified Particle Swarm Optimization Based PID for Movement Control of Two-Wheeled Balancing Robot”. International Journal on Advanced Science, Engineering and Information Technology 9 (4):1154-62. https://doi.org/10.18517/ijaseit.9.4.9485.