A. Yaakob and M. Ramli, “Implementation of a Discrete Prescribed Performance Controller (DPPC) based on a Discrete PID Scheme on a DC Motor System”, Mekatronika : J. Intell. Manuf. Mechatron., vol. 2, no. 1, pp. 8–15, Jan. 2020, Accessed: Apr. 19, 2025. [Online]. Available: https://journal.ump.edu.my/mekatronika/article/view/5940