Ghommam, Jawhar; Chemori, Ahmed; Mnif, Faiçal: 'Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 8, pp. 165-190, DOI: 10.1049/PBCE111E_ch8
IET Digital Library, https://digital-library.theiet.org/;jsessionid=oo64c2j1k0b3.x-iet-live-01content/books/10.1049/pbce111e_ch8