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Modeling of Two-Wheeled Self-Balancing Robot Driven by DC G..:

Frankovský, P. ; Dominik, L. ; Gmiterko, A....
International Journal of Applied Mechanics and Engineering.  22 (2017)  3 - p. 739-747 , 2017
Link: https://doi.org/10.1515/ijame-2017-0046