Linear controller for an inverted pendulum having restricted travel: A high-and-low gain approach

@article{Lin1996LinearCF,
  title={Linear controller for an inverted pendulum having restricted travel: A high-and-low gain approach},
  author={Zongli Lin and Ali Saberi and Michael Gutmann and Yacov A. Shamash},
  journal={Automatica},
  year={1996},
  volume={32},
  pages={933-937}
}
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