Optimal Proportional Integral Derivative Controller for Two-Wheeled Self- Balanced Mobile Robots Based on Particle Swarm Algorithm. University of Thi-Qar Journal for Engineering Sciences, [S. l.], v. 12, n. 2, p. 63–69, 2022. DOI: 10.31663/tqujes.12.2.452(2022). Disponível em: http://jeng.utq.edu.iq/index.php/main/article/view/492.. Acesso em: 22 jun. 2024.