Geodesic
On the movement stability of dumpher supplied system of objects with double rotation
Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 1 (1985), pp. 38-42.

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The paper considers the problem of the stability of the equilibrium position and stationary motion of a system of bodies with double rotation, consisting of a platform and a rotor located on it. In order to stabilize the angular position of the system, the platform is equipped with a damper, which is an oscillatory system with one degree of freedom. The method of Lyapunov functions was used to study the stability of the equilibrium position and stationary motion of the platform. 
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L. S. Sahakian. On the movement stability of dumpher supplied system of objects with double rotation. Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 1 (1985), pp. 38-42. http://geodesic.mathdoc.fr/item/UZERU_1985_1_a5/

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[2] I. G. Malkin, Teoriya ustoichivosti dvizheniya, Nauka, M., 1966, 73 | MR

[3] N. N. Krasovskii, Nekotorye zadachi teorii ustoichivosti dvizheniya, Fizmatgiz, M., 1959, 98 | MR