1. Aliev, F.A., Larin, V.B. (1998) Optimization of linear control systems: analytical methods and computational algorithms. Amsterdam: Gordon and Breach Science Publishers, p. 261
2. Fu, K.S., Gonzalez, R.C., Lee, C.S.G. (1987) Robotics: Control, Sensing, Vision, and Intelligence, McGraw — Hill Book Company, New York, p. 595
3. Larin, V.B. (1989) Control of a Walking Apparatus. Soviet Journal of Computer and Systems Sciences, vol. 27, no. 1, pp. 1–8
4. Larin, V.B. (1998) The optimization of periodic systems with a singular weighting matrix which determines a quadratic form of control actions. Problemi upravleniya i informatiki, no. 2, pp. 33–46 (in Russian, will be translated in J. Autom. and Inform. Sci.)
5. Larin, V.B. (2000) Control of Statically Unstable Legged Vehicles. Int. Appl. Mechanics, vol. 36, no. 6, pp. 729–754