ADNAN, Aliaa; H. KARAM, Ekhlas. OPTIMAL IMPROVED PID CONTROLLER WITH GOA ALGORITHM FOR SINGLE LINK HUMAN LEG ROBOT. Journal of Engineering and Sustainable Development, Baghdad, Iraq, v. 26, n. 2, p. 103–110, 2022. DOI: 10.31272/jeasd.26.2.10. Disponível em: https://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/135.. Acesso em: 14 jun. 2025.