Xu Xu, ; Hongwei Zhang, ; Carbone, Giuseppe: 'Case studies on non-linear control theory of the inverted pendulum' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 10, pp. 225-262, DOI: 10.1049/PBCE111E_ch10
IET Digital Library, https://digital-library.theiet.org/;jsessionid=2m95jlf19gpw3.x-iet-live-01content/books/10.1049/pbce111e_ch10