Mendoza-Avila, Jesus; Castillo, Ismael: 'Higher order sliding-mode stabilization of inverted cart-pendulum' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 3, pp. 71-91, DOI: 10.1049/PBCE111E_ch3
IET Digital Library, https://digital-library.theiet.org/;jsessionid=9dj3ta543c53n.x-iet-live-01content/books/10.1049/pbce111e_ch3