Edgar Sanchez Victor Flores Real-time underactuated robot swing-up via fuzzy PI+PD control. 1-13 2006 17 Journal of Intelligent and Fuzzy Systems 1 http://iospress.metapress.com/openurl.asp?genre=article&issn=1064-1246&volume=17&issue=1&spage=1 db/journals/jifs/jifs17.html#SanchezF06