Boubaker, Olfa: 'The inverted pendulum: history and survey of open and current problems in control theory and robotics' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 1, pp. 1-39, DOI: 10.1049/PBCE111E_ch1
IET Digital Library, https://digital-library.theiet.org/;jsessionid=2dqcn6wpu1gwd.x-iet-live-01content/books/10.1049/pbce111e_ch1