1. Théorie du mouvement du monocycle et de la bicyclette;Carvallo;J. L’Ecole Polytech.,1900
2. Dynamics of Nonholonomic Systems;Neimark,1972
3. Computer Simulation of Bicycle Dynamics;Roland,1973
4. An advanced model of bicycle dynamics;Franke;European J. Phys.,1990
5. N.H. Getz, Control of balance for a nonlinear nonholonomic nonminimum phase model of a bicycle, in: Proc. Amer. Control Conf. Baltimore, MD, 1994, pp. 148–151.