Lyapunov-based PD linear control of the oscillatory behavior of a nonlinear mechanical system: the inverted physical pendulum with moving mass case. Aguilar-Ibáñez, Carlos Fernando, Gutiérrez-Frías, Oscar Octavio, Martínez-García, Juan Carlos, Garrido-Moctezuma, Rubén, Gómez-González, Bernardo (2010) Mathematical Problems in Engineering