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OPTIMAL IMPROVED PID CONTROLLER WITH GOA ALGORITHM FOR SINGLE LINK HUMAN LEG ROBOT. J. eng. sustain. dev. [Internet]. 2022 Mar. 1 [cited 2024 May 6];26(2):103-10. Available from: https://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/135