On-Line Auto-Tuning Robust Nonlinear Neural PID Controller Design for Double-Pipe Heat Exchanger Based on Particle Swarm Optimization. Journal of Al-Rafidain University College For Sciences ( Print ISSN: 1681-6870 ,Online ISSN: 2790-2293 ), [S. l.], v. 37, n. 1, p. 316–341, 2021. DOI: 10.55562/jrucs.v37i1.244. Disponível em: https://jrucs.iq/index.php/JAUCS/article/view/244. Acesso em: 21 jul. 2026.