Nguyen , Minh Tâm, Văn Đông Hải Nguyen, Phong Lưu Nguyen, and Văn Tuấn Le. 2016. “Modelling and Optimal Control for Two- Wheeled Self-Balancing Robot”. Journal of Technical Education Science 11 (3):22-30. https://www.jte.edu.vn/index.php/jte/article/view/416.