1. LARCOMBE , P. J. , 1990 , The dynamic equations of motion for a horizontally translating two dimensional /V-link inverted pendulum a symbolic derivation using Lagrange's method . Control Group Research Report R-90/12, Department of Mechanical Engineering , Glasgow University , U.K. ; 1991, On the control of a two dimensional multi-link inverted pendulum co-ordinate system suitability for dynamic formulation. Proc, 30th IEEE Conf. on Decision and Control, Brighton, U.K., Vol. 1, pp. 136-141; 1992 a, On the control of a two-dimensional multi-link inverted pendulum the form of the dynamic equations from choice of co-ordinate system. Int. J. Systems Sci., 23, 2265; 1992 b, The application of computational symbolic algebra to the controllability of a single, double and multi-link inverted pendulum. Control Group Research Report R-92/2, Department of Mechanical Engineering, Glasgow University, U.K.
2. On the control of a two-dimensional uniform multi-link inverted pendulum: the enumeration and identification of equilibrium states
3. Decentralized continuous robust controller for mobile robots