K. J. Aoström, Javier Aracil, Francisco Gordillo. A family of smooth controllers for swinging up a pendulum. Automatica, 44(7):1841-1848, 2008. [doi]
@article{AostromAG08,
title = {A family of smooth controllers for swinging up a pendulum},
author = {K. J. Aoström and Javier Aracil and Francisco Gordillo},
year = {2008},
doi = {10.1016/j.automatica.2007.10.040},
url = {http://dx.doi.org/10.1016/j.automatica.2007.10.040},
researchr = {https://researchr.org/publication/AostromAG08},
cites = {0},
citedby = {0},
journal = {Automatica},
volume = {44},
number = {7},
pages = {1841-1848},
}