Microcontroller based proportional derivative plus conditional integral controller for electro-mechanical dual acting pulley continuously variable transmission ratio control by Budianto, A., Tawi, K. B., Hussein, M., Supriyo, B., Ariyono, S., Che Kob, M. S., Zulkifli, Mohd. Ezlamy, Khairuldean, A. K., Daraoh, Aishah