L. B. Rapoport, A. A. Generalov, B. A. Barulin, M. D. Gorbachev, “An extension of the feedback linearization method in the control problem of an inverted pendulum on a wheel”, Avtomat. i Telemekh., 2024, no. 4, 61–80; Autom. Remote Control, 85:4 (2024), 362–376
