Pintor Ahumada, S. D., C. E. Pérez-Espíndola, and O. D. Montoya Giraldo. “Design of a Two-Stage Controller for Balancing and Stabilizing the Furuta Pendulum”. Statistics, Optimization & Information Computing, Vol. 15, no. 1, Oct. 2025, pp. 711-32, doi:10.19139/soic-2310-5070-2795.