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Mohd Ashraf, Ahmad and Nik Mohd Zaitul, Akmal Mustapha and Mohd Zaidi, Mohd Tumari and Mohd Helmi, Suid and Raja Mohd Taufika, Raja Ismail and Mohd Ashraf, Ahmad (2018) Data-driven PID tuning for liquid slosh-free motion using memory-based SPSA algorithm. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 197-210. ISBN 978-981-13-3708-6