Nguyễn Văn Đông Hải, and Ngô Văn Thuyên. “PID-Neuron Controller Design for Rotary Inverted Pendulum System”. Journal of Technical Education Science, vol. 7, no. 4, Dec. 2012, pp. 37-43, https://www.jte.edu.vn/index.php/jte/article/view/824.