Jian Huang, ; Fukuda, Toshio: 'Advances in robust control of mobile wheeled inverted pendulum' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 9, pp. 193-223, DOI: 10.1049/PBCE111E_ch9
IET Digital Library, https://digital-library.theiet.org/;jsessionid=gjbds37p5qggo.x-iet-live-01content/books/10.1049/pbce111e_ch9