Abstract Rotary Inverted Pendulum (RIP) is an under-actuated mechanical system which is
inherently nonlinear and unstable. For decades, it has been widely used as an experimental …

Furuta′ s pendulum has been an excellent benchmark for the automatic control community
in the last years, providing, among others, a better understanding of model‐based Nonlinear …

The growth in automated manufacturing since the '60s has motivated the study of the control
and motion planning of many types of mechanical systems, such as industrial manipulators …

This paper investigates a framework for the application of robust and smooth second order
sliding mode control to a class of underactuated mechanical systems for the realization of …

The purpose of this paper is to introduce a new trajectory tracking controller applied to the
Furuta pendulum; where the arm tracks a desired time-varying trajectory, while the …

This brief addresses the problem of swing up and stabilization for inverted pendulum. It is
shown that the stable manifold method, recently proposed for approximately solving …

In this paper, a new composite scheme is proposed, where the total control action is
composed of the sum of a feedback-linearization-based controller and an energy-based …

Different educational and didactic papers that allow students to experimentally validate
linear controllers have been reported. However, generally, in those papers, procedure …

This paper studies the memory output-feedback integral sliding mode control for Furuta
pendulum systems subject to unmatched harmonic disturbances and measurement noise …

We propose a method to solve a class of control problems arising from a system of coupled
pendulums. The system considered in this work is a one-dimensional array of pendulums …