... 1 .34 4 × 10−6 , d1 = 1.656 × 10−9 e1 = 1.068 × 10−12 , f = 0.0 237 3 , g1 = 0.0001 138 h1 = 1.778 × 10−7 , i1 = 1 .35 7 × 10−10 , j1 = 2.146 × 10−14 ( 73) 36 Advances in PID Control Will-be-set-by -IN- TECH ... C.-J (2008) Motion control for a two-wheeled vehicle using a self-tuning pid controller, Control Engineering Practice 16 (3) : 36 5 37 5 Sastry, S & Bodson, M (1989) Adaptive Control –Stability, ... of Control 42(6): 1491–1505 Chang, W.-D., Hwang, R.-C & Hsieh, J.-G (20 03) A multivariable on-line adaptive pid controller using auto-tuning neurons, Engineering Application of Artificial Intelligence...