Muhammad Hamza Zaka-ur-Rehman Qamar Zahid Furqan Tahir Zulfiqar Khalid Real-Time Control of an Inverted Pendulum: A Comparative Study. 183-188 2011 FIT http://doi.ieeecomputersociety.org/10.1109/FIT.2011.41 conf/fit/2011 db/conf/fit/fit2011.html#HamzaZZTK11