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* S. V. Ulyanov et al. ''Soft computing for the intelligent robust control of a robotic unicycle with a new physical measure for mechanical controllability.'' Soft Computing Volume 2 Issue 2 (1998) pp 73–88.
* Zenkov, DV, AM Bloch, and JE Marsden [2001] ''The Lyapunov-Malkin Theorem and Stabilization of the Unicycle with Rider''. Systems and Control Letters, Volume 45, Number 4, 5 April 2002, pp. 293–302(10) (postscript format available here [http://www.math.lsa.umich.edu/~abloch/unistab.ps])
* Zenkov, DV, AM Bloch, NE Leonard and JE Marsden, ''Matching and Stabilization of Low-dimensional Nonholonomic Systems''. Proc. CDC, 39, (2000), 1289-1295. (pdf format available here [
* Sheng, Zaiquan; Yamafuji, Kazuo: ''Realization of a Human Riding a Unicycle by a Robot.'' Proceedings of the 1995 IEEE International Conference on Robotics and Automation, Vol. 2 (c1995), pp 1319–1326
* A. Schoonwinkel, "Design and test of a computer stabilized unicycle," Ph.D. dissertation, Stanford University, California, 1987.
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