S. Supriadi, A. Wajiansyah, M. Zainuddin, and A. B. W. Putra, “Optimization of Proportional Integral Derivative Controller for Omni Robot Wheel Drive by Using Integrator Wind-up Reduction Based on Arduino Nano”, J Robot Control (JRC), vol. 5, no. 6, pp. 1690–1701, Sep. 2024.