Mahmoud, Magdi S.: 'LMI-based control design for balancing and attitude stabilization of inverted pendulums' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 14, pp. 347-383, DOI: 10.1049/PBCE111E_ch14 IET Digital Library, https://digital-library.theiet.org/;jsessionid=ekc7iqmb1d1n9.x-iet-live-01content/books/10.1049/pbce111e_ch14