F. U. Rehman, A. B. Satti, and A. A. Saleem, “Continuous Stabilizing Control for a Class Of Non-holonomic systems: Brockett System Example”, JVTSD, vol. 2, no. 2, pp. 167–172, Aug. 2026, doi: 10.5890/JVTSD.2018.06.005.