SINUNG WIDIYANTO; MUHAMMAD TAUFIQURROHMAN; SUHIRWAN SUHIRWAN. Design of Balance Control System for Quadcopter Drone Using Ziegler-Nichols PID Method. IPTEK The Journal of Engineering, [S. l.], v. 11, n. 3, 2026. DOI: 10.12962/j23378557.v11i3.a23012. Disponível em: https://journal.its.ac.id/index.php/joe/article/view/7977. Acesso em: 25 jul. 2026.