Mehdi, Haifa; Boubaker, Olfa: 'Stabilization and tracking control of the inverted pendulum on a cart via a modified PSO fractional order PID controller' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 4, pp. 93-115, DOI: 10.1049/PBCE111E_ch4 IET Digital Library, https://digital-library.theiet.org/;jsessionid=42mbi3mw9grp9.x-iet-live-01content/books/10.1049/pbce111e_ch4