D. Ding and R. A. Cooper, Electric powered wheelchairs IEEE Control Systems Magazine, pp.22-34, 2005.

R. Lozano, I. Fantoni, and D. J. Block, Stabilization of the inverted pendulum around its homoclinic orbit, Systems & Control Letters, vol.40, issue.3, pp.197-204, 2000.
DOI : 10.1016/S0167-6911(00)00025-6

Y. Orlov, L. Aguilar, and L. Acho, Model Orbit Robust Stabilization (MORS) of Pendubot with Application to Swing up Control, Proceedings of the 44th IEEE Conference on Decision and Control, 2005.
DOI : 10.1109/CDC.2005.1583148

W. Perruquetti and J. Barbot, Sliding mode control in engineering
DOI : 10.1201/9780203910856

S. Riachy, T. Floquet, Y. Orlov, and R. J. , Stabilization of the cart-pendulum system via quasi-homogeneous switched control. 9-th International Workshop on Variable Structure Systems, 2006.