Naradipa Oktaviano, A., M. Izzata Falliant, D. Nabila Hardiansyah, and K. Hidayat. “SF20 Analisis Performa DMP MPU6050 Dan Kendali PID Pada Robot Self-Balancing Berbasis ESP32”. SinarFe7, vol. 8, no. 1, Sept. 2026, pp. 154-62, https://journal.fortei7.org/index.php/sinarFe7/article/view/872.