Sanches, V. M.; Cunha, P. B. P. da; Simas, H.; Normey-Rico, J. E.; Cavaco, M. A. M. 2D balance control of a self-balancing robot for power inspection in urban networks. Rev. Principia 2024, 61 (2), 314-334. https://doi.org/10.18265/1517-0306a2021id6839.