Chemori, Ahmed: 'Model-free control of the inertia wheel inverted pendulum with real-time experiments' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 5, pp. 119-136, DOI: 10.1049/PBCE111E_ch5
IET Digital Library, https://digital-library.theiet.org/;jsessionid=b2qa5gb1djdq.x-iet-live-01content/books/10.1049/pbce111e_ch5