V. A. Hernández Rios, J. M. Franco Rivera, E. Martínez Ramirez, E. Gutiérrez Moreno, A. M. Hernández Hernández, and J. Hernández Pérez, “Real-Time Discrete PID Control of a Low-Cost, Open-Hardware Inverted Pendulum on a Cart: Design, Construction, and Experimental Validation”, Int. Journal of COP and Infor., vol. 18, no. 1, pp. 87–100, Sep. 2026.