T.-V.-A. Nguyen, Nguyen Duy Hung, Tran Huu Phuoc, Nguyen Danh Huy, and Nguyen Tung Lam, “Hierarchical sliding mode control and disturbance observer for the double inverted pendulum on a cart”, JMST, vol. 91, no. 91, pp. 35–44, Nov. 2023.