Nofrialdi, N., Zuhrie, M., Suprianto, B. and Asto, I.G. 2020. RANCANG BANGUN SELF BALANCING TWINROTOR MENGGUNAKAN KONTROLER PID TUNING PARTICLE SWARM OPTIMIZATION. JURNAL TEKNIK ELEKTRO. 9, 3 (Sep. 2020), 641-648. DOI:https://doi.org/10.26740/jte.v9n3.p641-648.