Regolin, Enrico; Savitski, Dzmitry; Ivanov, Valentin; Augsburg, Klaus; Ferrara, Antonella: 'Lateral vehicle dynamics control via sliding modes generation' (Transportation, 2017), 'Sliding Mode Control of Vehicle Dynamics', Chap. 4, pp. 121-158, DOI: 10.1049/PBTR005E_ch4 IET Digital Library, https://digital-library.theiet.org/;jsessionid=6k9512rdc196r.x-iet-live-01content/books/10.1049/pbtr005e_ch4