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A Hybrid Energy Sliding Mode Controller for the Rotary Inverted Pendulum

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Advances in Engineering Research and Application (ICERA 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 602))

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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.

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References

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Author information

Authors and Affiliations

  1. Hanoi University of Science and Technology, Hanoi, Vietnam

    Van-Anh Nguyen, Duc-Binh Pham, Duy-Thi Pham & Quy-Thinh Dao

  2. Shibaura Institute of Technology, Tokyo, Japan

    Ngoc-Tam Bui

Authors
  1. Van-Anh Nguyen
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  2. Duc-Binh Pham
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  3. Duy-Thi Pham
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  4. Ngoc-Tam Bui
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  5. Quy-Thinh Dao
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Corresponding authors

Correspondence to Van-Anh Nguyen or Quy-Thinh Dao .

Editor information

Editors and Affiliations

  1. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  2. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  3. Vietnam Association for Science Editing, Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  4. Institute for Automation and Systems Engineering, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Horst Puta

  5. Department of Computer Science and Automation, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Kai-Uwe Sattler

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© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Nguyen, VA., Pham, DB., Pham, DT., Bui, NT., Dao, QT. (2023). A Hybrid Energy Sliding Mode Controller for the Rotary Inverted Pendulum. In: Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H., Sattler, KU. (eds) Advances in Engineering Research and Application. ICERA 2022. Lecture Notes in Networks and Systems, vol 602. Springer, Cham. https://doi.org/10.1007/978-3-031-22200-9_4

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  • DOI: https://doi.org/10.1007/978-3-031-22200-9_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-22199-6

  • Online ISBN: 978-3-031-22200-9

  • eBook Packages: EngineeringEngineering (R0)

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