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Hamza, Mukhtar Fatihu and Adamu, Jamilu Kamilu and Isa, Abdulbasid Ismail (2021) Euler-lagrange based dynamic model of double rotary inverted pendulum. Lecture Notes in Electrical Engineering, 666. pp. 419-434. ISSN 1876-1100, DOI https://doi.org/10.1007/978-981-15-5281-6_29.