@article {ieee.control.magazine-ArndtBPID11,
	title = {Two-Wheel Self-Balancing of a Four-Wheeled Vehicle},
	journal = {IEEE Control Systems Magazine},
	year = {2011},
	month = {April 2011},
	author = {David Arndt and James E. Bobrow and Steven C. Peters and Karl Iagnemma and Steven Dubowsky}
}