Linear controller for an inverted pendulum having restricted travel: A high-and-low gain approach. Lin, Z., Saberi, A., Gutmann, M., & Shamash, Y. 1996.
bibtex   
@article{2618,
  author = {Zongli Lin and Ali Saberi and Michael Gutmann and Y. Shamash},
  title = {Linear controller for an inverted pendulum having restricted travel: A high-and-low gain approach},
  year = {1996}
}

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