Đỗ Bình Nguyên, and Dương Hoài Nghĩa. “Controlling a Mobile Inverted Pendulum by Nonlinear Control Method”. Journal of Technical Education Science, vol. 7, no. 3, Sept. 2012, pp. 15-22, https://www.jte.edu.vn/index.php/jte/article/view/636.