KUNG, Fabian. A Tutorial on Modelling and Control of Two-Wheeled Self-Balancing Robot with Stepper Motor. Applications of Modelling and Simulation, [S. l.], v. 3, n. 2, p. 64–73, 2019. Disponível em: https://www.ojs.arqiipubl.com/index.php/AMS_Journal/article/view/71. Acesso em: 9 may. 2026.