Urniezius, R., and E. Geguzis. “Hybrid Fuzzy Logic and Adaptive LQR Controller for Swing-Up, Positioning and Stabilization of Inverted Pendulum”. Elektronika Ir Elektrotechnika, vol. 20, no. 3, Mar. 2014, pp. 11-15, doi:10.5755/j01.eee.20.3.6675.