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2. 1. Arduino. [Online]. Available: http://arduino.cc
   2. D. Arndt, J. E. Bobrow, S. Peters, K. Iagnemma, and S. Bubowsky, “Two-wheel self-balancing of a four-wheeled vehicle,” IEEE Control Systems Magazine, vol. 31, no. 2, pp. 29–37, April 2011.
   3. R. Fierro, F. Lewis, and A. Lowe, “Hybrid control for a class of underactuated mechanical systems,” IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, vol. 29, no. 6, pp. 649–4, nov 1999.
   4. K. Xu and X.-D.Duan, “Comparative study of control methods of single-rotational inverted pendulum,” in Proceedings of the First International Conference on Machine Learning and Cybernetics, vol. 2, 2002, pp. 776–8.
   5. F. Grasser, A. D’Arrrigo, S. Colombi, and A. C. Rufer, “JOE: A mobile, inverted pendulum,” IEEE Transactions on Industrial Electronics, vol. 49, no. 1, pp. 107–14, 2002.
   6. D. P. Anderson. (2003, Aug.)nBot balancing robot. Online.[Online]. Available: http://www.geology.smu.edu/ dpa-www/robo/nbot
   7. J. Sarik and I. Kymissis, “Lab kits using the Arduino prototyping platform,” in IEEE Frontiers in Education Conference, 2010, pp. T3C– 1–5.