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References

[Kane1985]Thomas R. Kane, and David A. Levinson. Dynamics, Theory and Application. McGraw Hill, 1985. http://hdl.handle.net/1813/638.
[Ostrowski1994]Jim Ostrowski, Andrew Lewis, Richard Murray, Joel Burdick Nonholonomic Mechanics and Locomotion: The Snakeboard Example. 1994
[Meijaard2007]J. P. Meijaard, J. M. Papadopoulos, A. Ruina, and A. L. Schwab, “Linearized dynamics equations for the balance and steer of a bicycle: A benchmark and review,” Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, vol. 463, no. 2084, pp. 1955–1982, Aug. 2007.
[Vallery2020]Heike Vallery and Arend L. Schwab, "Advanced Dynamics", 3rd edition, Delft University of Technology, 2020, ISBN/EAN 978-90-8309-060-3