Shiuh-Jer Huang and  Su-Shean Chen and  Sheam-Chyun Lin,  Design and Motion Control of a Two-Wheel Inverted Pendulum Robot .   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    February 2019, vol. 147(3). 194 - 201
    [viewed 19 September 2020]. Available from: https://publications.waset.org/pdf/10010139.