H. Gritli and S. Jenhani, “LMI-based State Feedback Control of the Underactuated Inertia Wheel Inverted Pendulum to the Unstable Upright Position”, JVTSD, vol. 8, no. 2, pp. 207–234, Aug. 2026, doi: 10.5890/JVTSD.2024.06.005.