1) Attitude Estimation Using Low Cost Accelerometer and gyroscope, by Young Soo Suh, School of Electrical Engineering, University of Ulsan, Korea (2003).

2) A Two-Wheeled Self Balancing Robot with Fuzzy PID Control Method by Junfeng Wu, Wanying Zhang, and Shengda Wang, (2006).

3) Angle Measurement for Gyroscopes and Accelerometers on a Chip by Debra, (2006).

4) Tuning Algorithms for PID Controller Using Soft Com- puting Techniques B.Nagaraj , S.Subha, Rampriya., Kamaraj College of Engineering, India (2008).

5) Singular Axis Self-Balancing Robot, by Sulabh Kumra and Shilpa Mehta, ITM University, Gurgaon, Haryana, India (2012).

6) Two Wheeled Self Balancing Robot for Autonomous Navigation, by Mar Athanasius College of Engineering, India (2012).

7) Design and Implementation of PID Based Two-Wheeled Self Balancing Robot by B. Malathi and M. Ramchandran. (2012).

8) Simulation and Control of a Two-wheeled SelfBalancing Robot by Wei An and Yangmin Li. (2103).

9) Two-wheeled Self BalancingRobot for Autonomous Navigation by, Jisha Kuruvilla, Jithin Abraham, Midhun S, Ranjini Kunnath, Rohin Reji Paul. (2013).

10) Autonomous Dual Wheel Self Balancing Robot Based on Microcontroller, by Liu Luoren and Luo Jinling, Loudi Vocational College, China (2013).

11) Development of a Segway Robot for an Intelligent Transport System, by IEEE Society, Kyushu University, Fukuoka, Japan (2013).

12) Simulation and Control of a Two-wheeled SelfBalancing Robot, by Wei An and Yangmin Li, Senior Member IEEE, Shenzhen, China (2013).

13) Controlling an Equilibrist Lego Robot by, Vinicius Silva, Pedro Leite, Filomena Soares, Gil Lopes,Joo Sena Esteves and Paulo Garrido. (2104).

14) Design and Implementation of PID Based Two Wheeled Self Balancing Mobile Robot, by B.Malathi, M. Ramchandran, SRM University, India (2014).

15) Tilt based on an Accelerometer, a Gyro and a Kalman Filter to Control a Self-Balancing Vehicle, by UMICH, More- lia, Mexico (2014).

16) The Design of Fuzzy Adaptive PID Controller of Two- Wheeled Self-Balancing Robot by, Congying Qiu and Yibin Huang. (2105).

17) Controlling on Equilibrist Lego Robot, by Vinicius Silva, Pedro Leite, Filomena Soares, Gil Lopes, Joao Sena Esteves and Paulo Garrido, London, UK (2015).