CHAO, C.-H.; SHIEH, J.-J.; ZHANG, X.-J. Kalman Filter-Based PID and Nonlinear Counter-Steering for Low-Cost Self-Balancing. Journal of Electronics and Electrical Engineering, Singapore, v. 5, n. 1, p. 203–223, 2026. DOI: 10.37256/jeee.5120269976. Disponível em: https://ojs.wiserpub.com/index.php/JEEE/article/view/9976. Acesso em: 29 may. 2026.