SHAMSELDIN, Mohamed. A.; SALLAM, Mohamed; BASSIUNY, A. M.; ABDEL GHANY, A. M. Real-time implementation of an enhanced nonlinear PID controller based on harmony search for one-stage servomechanism system. Journal of Mechanical Engineering and Sciences, Kuantan, Malaysia, v. 12, n. 4, p. 4161–4179, 2018. DOI: 10.15282/jmes.12.4.2018.13.0359. Disponível em: https://journal.ump.edu.my/jmes/article/view/1097. Acesso em: 17 may. 2025.