Optimal control of nonlinear inverted pendulum dynamical system with disturbance input using PID controller & LQR. - Lal Bahadur Prasad; Barjeev Tyagi; Hari Om Gupta (ICCSCE, 2011)

Modelling and Simulation for Optimal Control of Nonlinear Inverted Pendulum Dynamical System Using PID Controller and LQR. - Lal Bahadur Prasad; Barjeev Tyagi; Hari Om Gupta (Asia International Conference on Modelling and Simulation, 2012)

Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input. - Lal Bahadur Prasad; Barjeev Tyagi; Hari Om Gupta (Int. J. Autom. Comput., 2014)