Jalo, S. A. ., M. Ahmed, A. B. Abdulqariri, and M. U. . Ilyasu. “Improved Inverted Pendulum Control through PID and EPID Controllers”. Mekatronika: Journal of Intelligent Manufacturing and Mechatronics, vol. 5, no. 2, Nov. 2023, pp. 67-73, doi:10.15282/mekatronika.v5i2.9785.