A DATA-DRIVEN PID CONTROLLER FOR FLEXIBLE JOINT MANIPULATOR USING NORMALIZED SIMULTANEOUS PERTURBATION STOCHASTIC APPROXIMATION - Mustapha, N.M.Z.A.; Suid, M.H.; Raja Ismail, R.M.T.; Nasir, A.N.K.; Ahmad, M.A.; Mohd Tumari, M.Z.; Jui, J.J. (Journal of Advanced Manufacturing Technology (JAMT))