Ali, H., A. Albagul, and A. Algitta. “OPTIMIZATION OF PID PARAMETERS BASED ON PARTICLE SWARM OPTIMIZATION FOR BALL AND BEAM SYSTEM”. International Journal of Engineering Technologies and Management Research, vol. 5, no. 9, Sept. 2018, pp. 59-69, doi:10.29121/ijetmr.v5.i9.2018.289.