Kung, Fabian. “A Tutorial on Modelling and Control of Two-Wheeled Self-Balancing Robot With Stepper Motor”. Applications of Modelling and Simulation 3, no. 2 (July 28, 2019): 64–73. Accessed May 23, 2026. https://ojs.arqiipubl.com/index.php/AMS_Journal/article/view/71.