Tanelli, Mara; Corno, Matteo; Ferrara, Antonella: 'Sliding mode control of traction and braking in two-wheeled vehicles' (Transportation, 2017), 'Sliding Mode Control of Vehicle Dynamics', Chap. 3, pp. 77-119, DOI: 10.1049/PBTR005E_ch3
IET Digital Library, https://digital-library.theiet.org/;jsessionid=6ab56v41dos28.x-iet-live-01content/books/10.1049/pbtr005e_ch3