@inproceedings{1079044569fa42f388ef17c6b36a2127,
title = "A Hybrid Energy Sliding Mode Controller for the Rotary Inverted Pendulum",
abstract = "The rotary inverted pendulum (RIP) is a classical and underactuated system with two degrees of freedom. In this paper, we concentrate on addressing the swing up and stabilization of the rotary inverted pendulum, which are its two fundamental issues. In the beginning, we proceed to model the system. The two problems described previously are then solved by an energy sliding mode controller (ESMC). The effectiveness of the controller has also been verified through simulation results under the influence of external disturbance.",
keywords = "Energy-based control, Rotary inverted pendulum, Sliding mode control, Stabilization control, Swing up control",
author = "Nguyen, {Van Anh} and Pham, {Duc Binh} and Pham, {Duy Thi} and Bui, {Ngoc Tam} and Dao, {Quy Thinh}",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 5th International Conference on Engineering Research and Applications, ICERA 2022 ; Conference date: 01-12-2022 Through 02-12-2022",
year = "2023",
doi = "10.1007/978-3-031-22200-9_4",
language = "English",
isbn = "9783031221996",
series = "Lecture Notes in Networks and Systems",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "34--41",
editor = "Nguyen, {Duy Cuong} and Vu, {Ngoc Pi} and Long, {Banh Tien} and Horst Puta and Kai-Uwe Sattler",
booktitle = "Advances in Engineering Research and Application - Proceedings of the International Conference on Engineering Research and Applications, ICERA 2022",
}