Aguilar, Luis T.; Iriarte, Rafael: 'Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 6, pp. 137-150, DOI: 10.1049/PBCE111E_ch6
IET Digital Library, https://digital-library.theiet.org/;jsessionid=2gacbufoca3lm.x-iet-live-01content/books/10.1049/pbce111e_ch6