Gutiérrez, Diego; Ríos, Héctor: 'State estimation and parameter identification via sliding-mode techniques: pendulum-cart system' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 2, pp. 43-70, DOI: 10.1049/PBCE111E_ch2 IET Digital Library, https://digital-library.theiet.org/;jsessionid=97q53dqtbgn8.x-iet-live-01content/books/10.1049/pbce111e_ch2