picvendor vui lòng down giúp mình bài báo này nhé:
Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum
http://dx.doi.org/10.1109/TIE.2010.2069076
Model-based fuzzy control application to a self-balancing two-wheeled inverted pendulum
http://dx.doi.org/10.1109/CCA.2009.5281126