Setiawan, E., and D. Syauqy. “Semi-Adaptive Control Systems on Self-Balancing Robot Using Artificial Neural Networks”. INTENSIF: Jurnal Ilmiah Penelitian Dan Penerapan Teknologi Sistem Informasi, Vol. 5, no. 2, Aug. 2021, pp. 176-92, doi:10.29407/intensif.v5i2.15296.