Kravets, P. I., V. A. Zherebko, and V. M. Shymkovych. “Single Neuron Neural PID Controller Hardware-in-the-Loop Implementation Method Using FPGA”. Visnyk of Vinnytsia Politechnical Institute, no. 3, Nov. 2010, pp. 148-52, https://visnyk.vntu.edu.ua/index.php/visnyk/article/view/1447.