อ้างอิง
[1] Sukontanakarn, V. and M. Parnichkun (2009). "Real-Time Optimal Control for Rotary Inverted Pendulum." AmericanJournal of Applied Sciences 6(6): 1106-1115.
[2] PWM http://www.arduino.cc/en/Tutorial/PWM
[3] RotaryEncoders - Arduino playground www.arduino.cc/playground/Main/RotaryEncoders
[4] Linear-quadratic regulator http://en.wikipedia.org/wiki/Linear-quadratic_regulator
[5] PID , Norman S.Nise Control System Engineering, 4th Edition
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