Morillo Piña, A., E. M. Rios, and V. Acosta. “Stabilization of a Brushed DC Motor With the Port Controlled Hamiltonian Approach”. Rev. Téc. Fac. Ing. Univ. Zulia, Vol. 29, no. 2, 1, https://mail.produccioncientificaluz.org/index.php/tecnica/article/view/5957.