WASET
    A. N. K. Nasir and  M. A. Ahmad and  R. M. T. Raja Ismail,  The Control of a Highly Nonlinear Two-wheels Balancing Robot: A Comparative Assessment between LQR and PID-PID Control Schemes.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    October 2010, vol. 46(10). 942 - 947
    [viewed 20 April 2024]. Available from: https://publications.waset.org/pdf/15128.