Neha Gupta and Lillie Dewan


  1. [1] J.A. Acosta, Furuta’s pendulum: A conservative nonlinearmodel for theory and practice, Mathematical Problems inEngineering, 8, 2010, 1–29.
  2. [2] C.A. Avelar and J.M. Valenzuela, A composite controllerfor trajectory tracking applied to the Furuta pendulum, ISATransactions, 57, 2015, 286–294.
  3. [3] J.J. Wang, Simulation studies of inverted pendulum based onPID controllers, Simulation Modeling Practice and Theory,19(1), 2011, 440–449.
  4. [4] V.M.H. Guzmani, M.A. Ortigoza, and R.S. Ortigoza, Linearstate feedback regulation of a Furuta pendulum: Design basedon differential flatness and root locus, IEEE Access, 4, 2017,8721–8736.
  5. [5] H. Maher, A. Sereihy, I.M. Mehedi, M. Ubaid, A. Saggaf,and M. Bettayeb, State-feedback-based fractional-order controlapproximation for a rotary flexible joint, Mechatronic Systemsand Control, 48(4), 2020.
  6. [6] M. Akhtaruzzaman and A.A. Shafie, Modeling and control ofa rotary inverted pendulum using various methods, compara-tive assessment and result analysis, Proc. IEEE InternationalConf. on Mechatronics and Automation, Xi’an, China, 2010,1340–1347.
  7. [7] I.B. Tijani, R. Akmeliawati, and A.I. Abdullateef, Controlof an inverted pendulum using mode-based optimized LQRcontroller, Proc. IEEE 8th Conf. on Industrial Electronics andApplications, Melbourne, VIC, Australia, 2013, 1759–1764.
  8. [8] M.A. Sen and M. Kalyoncu, Optimal tuning of a LQR controllerfor an inverted pendulum using the Bees algorithm, Journalof Automation and Control Engineering, 4(5), 2016, 384–387.
  9. [9] C.A. Avelar and J.M. Valenzuela, New feedback linearization-based control for arm trajectory tracking of Furuta pendu-lum, IEEE/ASME Transactions on Mechatronics, 21(2), 2016,638–648.
  10. [10] N. Adhikary and C. Mahanta, Integral backstepping slidingmode control for underactuated systems: Swing-up and stabi-lization of the cart-pendulum system, ISA Transactions, 52(6),2013, 870–880.
  11. [11] N.J. Mathew, K.K. Rao, and N. Sivakumaran, Swing up andstabilization control of a rotary inverted pendulum, Proc. 10thIFAC International Symposium on Dynamics and Control ofProcess Systems, The International Federation of AutomaticControl, 46(32), 2013, 654–659.
  12. [12] S. Li, C.K. Ahn, and Z. Xiang, Command filter based adaptivefuzzy finite-time control for switched nonlinear systems usingstate-dependent switching method, IEEE Transactions onFuzzy Systems, Early Access, 69, 2020, 1–1.7
  13. [13] J.J. Slotine and W. Li, Applied nonlinear control (EnglewoodCliffs, NJ: Prentice-Hall, 1989).
  14. [14] A.E. Jajarm, A.H. Abolmasoumi, and H.R. Momeni, Intelli-gent fuzzy improvement of non-singular terminal sliding-modecontrol, Mechatronic Systems and Control, 47(1), 2019, 12–17.
  15. [15] S. Kurode, A. Chalanga, and B. Bandyopadhya, Swing-upand stabilization of rotary inverted pendulum using slidingmodes, Proceedings of IFAC World Congress, 44(1), 2011,10685–10690.
  16. [16] F. Philippe, Q. Guoyuan, and T. Martial, Sliding mode controlof a rotary inverted pendulum using higher order differentialobserver, Proc. 14th International Conf. on Control, Automa-tion and Systems, Seoul, South Korea, 2014, 1123–1127.
  17. [17] M. Khenfer, B. Daaou, and M. Bouhamida, Two nonlinearobservers based sliding mode controller for multivariable con-tinuous stirred tank reactor, Mechatronic Systems and Control,48(1), 2020.
  18. [18] C.J. Fallaha, M. Saad, H.Y. Kanaan, and K. Al-Haddad,Sliding-mode robot control with exponential reaching law,IEEE Transactions on Industrial Electronics, 58(2), 2011,600–610.
  19. [19] A.A. Jodah, H. Zargarzadeh, and M.K. Abbas, Experimentalverification and comparison of different stabilizing controllersfor a rotary inverted pendulum, Proc. IEEE InternationalConf. on Control System, Computing and Engineering, Minden,Malaysia, 2013, 417–423.
  20. [20] B.S. Cazzolato and Z. Prime, On the dynamics of Furutapendulum, Journal of Control Science and Engineering, 8,2011, 1–8.
  21. [21] N. Gupta and L. Dewan, Modeling and simulation of rotary-rotary planer inverted pendulum, Journal of Physics: Confer-ence Series, 1240, 2019, 1–8.
  22. [22] H. Bang and Y.S. Lee, Implementation of a ball and platecontrol system using sliding mode control, IEEE Access, 6,2018, 32401–32408.

Important Links:

Go Back