Bezzaoucha, Souad; Voos, Holger; Darouach, Mohamed: 'A survey on the polytopic Takagi-Sugeno approach: application to the inverted pendulum' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 12, pp. 283-308, DOI: 10.1049/PBCE111E_ch12
IET Digital Library, https://digital-library.theiet.org/;jsessionid=13eznbtg7w22t.x-iet-live-01content/books/10.1049/pbce111e_ch12