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Cited article:

STABILIZATION OF INVERTED PENDULUM ON A TWO-WHEELED VEHICLE

V.I. Ryazhskih, M.E. Semenov, A.G. Rukavicin, et al.
Bulletin of the South Ural State University series "Mathematics. Mechanics. Physics" 9 (3) 41 (2017)
https://doi.org/10.14529/mmph170306

Structural Nonlinear Dynamics and Diagnosis

Mikhail E. Semenov, Peter A. Meleshenko, Andrey M. Solovyov and Andrey M. Semenov
Springer Proceedings in Physics, Structural Nonlinear Dynamics and Diagnosis 168 463 (2015)
https://doi.org/10.1007/978-3-319-19851-4_22