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Tuning Methods of PID Controller for DC Motor Speed Control:

Abdulameer, Ashwaq ; Sulaiman, Marizan ; Aras, MSM.
Indonesian Journal of Electrical Engineering and Computer Science.  3 (2016)  2 - p. 343 , 2016
Link: https://doi.org/10.11591/ijeecs.v3.i2.pp343-349