Pham, Duc-Binh, et al. “Effective Control Strategies for Rotary Inverted Pendulum System: Energy-Based, LQR, and HSMC Techniques”.
JST: Smart Systems and Devices
, vol. 33, no. 3, Sept. 2023, pp. 65-73, doi:10.51316/jst.168.ssad.2023.33.3.9.