[1] Bruce MacLennan, Principles of Programming Languages. Electric Unicycle (12/25/2006). http://tlb.org/eunicycle.html

[2] David P. Anderson. nBot Balancing Robot ( 12/25/2006). http:// www.geology.smu.edu/~dpa-www/robo/nbot/

[3] http://en.wikipedia.org/wiki/Segway

[4] Raja Dravid, Chandana Paul, Fumiya Iida.Stumpy: An inverted pendulum driven hopping robot . http://www.mae.cornell.edu/Paul/stumpy.html

[5] GEARS Educational Systems 105 Webster St. Hanover Massachusetts. www.gearseds.com

[6] DS00964A-page 4,2004 Microchip Technology Inc. www. Microchip.com

[7] http://www.greatmodeldeals.com/support/graupner_speed.htm

[8] http://www.acroname.com/robotics/info/concepts/pwm.html

[9] www.microchip.com

[10] http://www.novotechnik.com/ NOVOtechnic Siedle Geoup

[11] Ogata, Katsuhiko. Modern Control Engineering. Prentice Hall, Upper Saddle River, NJ, 2002.

[12] Ogata, Katsuhiko. System Dynamics. Fourth edition. Person Education( Singapore) Pte. Ltd.,Indian Bransh,482 F.I.E. Patparganj, Delhi 110 092,India 2004.