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PID controller with novel PSO applied to a joint of a robot..:

Souza, Darielson A. ; Batista, Josias G. ; dos Reis, Laurinda L. N..
Journal of the Brazilian Society of Mechanical Sciences and Engineering.  43 (2021)  8 - p. , 2021
Link: https://doi.org/10.1007/s40430-021-03092-4