A. S. Al-Araji, “Design of Nonlinear PID Neural Controller for the Speed Control of a Permanent Magnet DC Motor Model based on Optimization Algorithm”, alkej, vol. 10, no. 1, pp. 72–82, Mar. 2017, Accessed: Jan. 04, 2026. [Online]. Available: https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/192