Dhahri, Slim; Ben Brahim, Ali; Ben Hmida, Fayçal; Sellami, Anis: 'Robust fault-tolerant control of nonlinear inverted pendulum and cart system with simultaneous actuator and sensor faults sliding-mode observer' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 13, pp. 309-345, DOI: 10.1049/PBCE111E_ch13
IET Digital Library, https://digital-library.theiet.org/;jsessionid=6buq6n53vcpqs.x-iet-live-01content/books/10.1049/pbce111e_ch13