Al-Samarraie, Shibly A., and Ivan I. Gorial. “Assessment of FLC, PID, Nonlinear PID, and SMC Controllers for Level Stabilization in Mechatronic Systems”. Journal of Robotics and Control (JRC) 5, no. 6 (October 3, 2024): 1845–1861. Accessed September 19, 2025. https://journal.umy.ac.id/index.php/jrc/article/view/23639.