Stabilization of a vision-based ball-on-sphere system. - Ming-Tzu Ho; Yusie Rizal; Wen-Sheng Cheng (CCA, 2013)

Balance control of a unicycle robot. - Ming-Tzu Ho; Yusie Rizal; Yi-Lung Chen (ISIE, 2014)

Point-to-point motion control of a unicycle robot: Design, implementation, and validation. - Yusie Rizal; Chun-Ting Ke; Ming-Tzu Ho (ICRA, 2015)

A Control Strategy for Balancing and Tracking Position of Unicycle Robot based on State Feedback LQR Control. - Yusie Rizal; Trihastuti Agustinah; Rudy Dikairono (IC3INA, 2022)