Boubaker, Olfa; Iriarte, Rafael (ed.): 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations' (Control, Robotics and Sensors, 2017) DOI: 
IET Digital Library, https://digital-library.theiet.org/;jsessionid=dqgeknr4gcxf.x-iet-live-01content/books/ce/pbce111e