1. S. Bennett and I.A. Norman: Heavy Duty Truck Systems (Thomson Delmar Learning, USA 2005), pp.548-566.
2. R. Rajamani: Vehicle Dynamics and Control (Springer, USA 2006), pp.230-232.
3. R. Andrzejewski and J. Awrejcewicz: Nonlinear Dynamics of a Wheeled Vehicle (Springer, USA 2005), pp.148-156.