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Anchor text: Powers, William T. & Richard Kennaway. (Edited by Dag Forssell.) 2004. "Inverted Pendulum". Hayward, CA: Living Control Systems.
Anchor text: downloadable source and executable code
Anchor text: http://www.livingcontrolsystems.com/demos/multiple_control/multiple_control.zip
Anchor text: www.livingcontrolsystems.com/demos/tutor_pct.html
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Anchor text: Living Control Systems Publishing