Vo , A. K., X. D. . Huynh, M. T. Nguyen, T. T. H. . Le, D. K. L. . Huynh, W. Xing, M. Chen, and . V. D. H. Nguyen. “Simulation of Adaptive Fuzzy Hierarchical Sliding Mode Control for Pendubot”. Journal of Technical Education Science, vol. 15, no. 2, Apr. 2020, pp. 25-34, https://jte.edu.vn/index.php/jte/article/view/126.