1. Swinging up a pendulum by energy control;Åström;Automatica,2000
2. An experiment with swinging up a double pendulum using feedback control;Awrejcewicz;Journal of Computer and Systems Sciences International,2012
3. Nonlinear model predictive control of a magnetic levitation system;Bächle;Control Engineering Practice,2013
4. Controlling the double rotary inverted pendulum with multiple feedback delays;Casanova;International Journal of Computers Communications & Control,2012
5. Driver, J. and Thorpe, D. (2004). Design, build and control of a single/double rotational inverted pendulum. The University of Adelaide, School of Mechanical Engineering, Australia, 4.