@article{kovacs2018accelero,
    title={Retarded, neutral and advanced differential equation models for balancing using an accelerometer},
    author={Kovacs, Balazs Andras and Insperger, Tamas},
    journal={International Journal of Dynamics and Control},
    volume={6},
    number={2},
    pages={694–-706},
    year={2018},
    doi={10.1007/s40435-017-0331-9}
}