V. M. Sanches, P. B. P. da Cunha, H. Simas, J. E. Normey-Rico, and M. A. M. Cavaco, “2D balance control of a self-balancing robot for power inspection in urban networks”, Rev. Principia, vol. 61, no. 2, pp. 314–334, Apr. 2024, doi: 10.18265/1517-0306a2021id6839.