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Trajectory tracking control of a self-balancing robot via a..:

Gandarilla, Isaac ; Montoya-Cháirez, Jorge ; Santibáñez, Víctor..
Engineering Science and Technology, an International Journal.  35 (2022)  - p. 101259 , 2022
Link: https://doi.org/10.1016/j.jestch.2022.101259