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Bloch, Anthony M. and Leonard, Naomi Ehrich and Marsden, Jerrold E. (1999) Stabilization of the pendulum on a rotor arm by the method of controlled Lagrangians. In: Proceedings of the 1999 IEEE International Conference on Robotics and Automation. Vol.1. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 500-505. ISBN 0-7803-51 80-0-5. http://resolver.caltech.edu/CaltechAUTHORS:BLOieeeicra99

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