Tafner, Robert; Reichhartinger, Markus; Horn, Martin: 'Observer-based parameter identification for vehicle dynamics assessment' (Transportation, 2017), 'Sliding Mode Control of Vehicle Dynamics', Chap. 7, pp. 229-288, DOI: 10.1049/PBTR005E_ch7
IET Digital Library, https://digital-library.theiet.org/;jsessionid=3iv34uhl3st51.x-iet-live-01content/books/10.1049/pbtr005e_ch7