Velázquez-Velázquez, Juan Eduardo; Galván-Guerra, Rosalba; Iriarte, Rafael: 'Switched integral sliding mode control for robust generation of self-oscillation in pendulum systems' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 7, pp. 151-163, DOI: 10.1049/PBCE111E_ch7
IET Digital Library, https://digital-library.theiet.org/;jsessionid=g77orgt8nhjj2.x-iet-live-01content/books/10.1049/pbce111e_ch7