1. Åström K., Klein R. and Lennartsson A. Bicycle dynamics and control. In IEEE Control Systems Magazine, 25(4): 26–47, 2005.
2. Dempster W. Space requirements of the seated operator. In Aerospace Medical Research Laboratory WADC technical report 55: 159, 1955.
3. Franke G., Suhr P., and Rieb F. An advanced model of bicycle dynamics. In European Journal of Physics 11:116–121, 1990.
4. Kane T. and Levinson D. Dynamics: Theory and Applications. McGraw-Hill, New York, 1985.
5. Klein R. Lose the Training Wheels. http://www.losethetrainingwheels.org , 2008.