Supriadi, S., 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”. Journal of Robotics and Control (JRC), vol. 5, no. 6, Sept. 2024, pp. 1690-01, doi:10.18196/jrc.v5i6.21807.