V. M. Sanches, P. B. P. da Cunha, H. Simas, J. E. Normey-Rico, e M. A. M. Cavaco, “2D balance control of a self-balancing robot for power inspection in urban networks”, Rev. Principia, v. 61, n. 2, p. 314–334, abr. 2024, doi: 10.18265/1517-0306a2021id6839.