{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T14:48:56Z","timestamp":1767970136294,"version":"3.49.0"},"publisher-location":"Cham","reference-count":39,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319111728","type":"print"},{"value":"9783319111735","type":"electronic"}],"license":[{"start":{"date-parts":[[2014,11,2]],"date-time":"2014-11-02T00:00:00Z","timestamp":1414886400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2014,11,2]],"date-time":"2014-11-02T00:00:00Z","timestamp":1414886400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2015]]},"DOI":"10.1007\/978-3-319-11173-5_1","type":"book-chapter","created":{"date-parts":[[2014,11,1]],"date-time":"2014-11-01T13:19:13Z","timestamp":1414847953000},"page":"1-42","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":53,"title":["Adaptive Sliding Mode Control of the Furuta Pendulum"],"prefix":"10.1007","author":[{"given":"Ahmad Taher","family":"Azar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fernando E.","family":"Serrano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2014,11,2]]},"reference":[{"issue":"11","key":"1_CR1","doi-asserted-by":"publisher","first-page":"1662","DOI":"10.1109\/9.544004","volume":"41","author":"G Bartolini","year":"1996","unstructured":"Bartolini, G., Ferrara, A.: Multi-input sliding mode control of a class of uncertain nonlinear systems. IEEE Trans Autom Control 41(11), 1662\u20131666 (1996)","journal-title":"IEEE Trans Autom Control"},{"issue":"2","key":"1_CR2","doi-asserted-by":"publisher","first-page":"241","DOI":"10.1109\/9.661074","volume":"43","author":"G Bartolini","year":"1998","unstructured":"Bartolini, G., Ferrara, A., Usai, E.: Chattering avoidance by second-order sliding mode control. IEEE Trans Autom Control 43(2), 241\u2013246 (1998)","journal-title":"IEEE Trans Autom Control"},{"issue":"9","key":"1_CR3","doi-asserted-by":"publisher","first-page":"1442","DOI":"10.1109\/TAC.2005.854655","volume":"50","author":"I Boiko","year":"2005","unstructured":"Boiko, I., Fridman, L.: Analysis of chattering in continuous sliding-mode controllers. IEEE Trans Autom Control 50(9), 1442\u20131446 (2005)","journal-title":"IEEE Trans Autom Control"},{"issue":"6","key":"1_CR4","doi-asserted-by":"publisher","first-page":"1053","DOI":"10.1109\/TAC.2007.899090","volume":"52","author":"I Boiko","year":"2007","unstructured":"Boiko, I., Fridman, L., Pisano, A., Usai, E.: Performance analysis of second-order sliding-mode control systems with fast actuators. IEEE Trans Autom Control 52(6), 1053\u20131059 (2007)","journal-title":"IEEE Trans Autom Control"},{"key":"1_CR5","doi-asserted-by":"crossref","unstructured":"Boiko I, Fridman L, Pisano A, Usai E (2008) A comprehensive analysis of chattering in second order sliding mode control systems. En: modern sliding mode control theory. Lecture notes in control and information sciences. Springer, Berlin, pp 23\u201349","DOI":"10.1007\/978-3-540-79016-7_2"},{"issue":"13","key":"1_CR6","doi-asserted-by":"publisher","first-page":"1675","DOI":"10.1049\/iet-cta.2012.1027","volume":"7","author":"JL Chang","year":"2013","unstructured":"Chang, J.L.: Dynamic compensator-based second-order sliding mode controller design for mechanical systems. IET Control Theory Appl 7(13), 1675\u20131682 (2013)","journal-title":"IET Control Theory Appl"},{"issue":"12","key":"1_CR7","doi-asserted-by":"publisher","first-page":"2863","DOI":"10.1109\/TAC.2009.2033748","volume":"54","author":"Y Chang","year":"2009","unstructured":"Chang, Y.: Adaptive sliding mode control of multi-input nonlinear systems with perturbations to achieve asymptotical stability. IEEE Trans Autom Control 54(12), 2863\u20132869 (2009)","journal-title":"IEEE Trans Autom Control"},{"key":"1_CR8","unstructured":"Cheng CC, Guo CZ (2010) Design of adaptive sliding mode controllers for systems with mismatched uncertainty to achieve asymptotic stability. In: Proceedings of the IEEE American control conference, Baltimore, MD, USA"},{"issue":"15","key":"1_CR9","doi-asserted-by":"publisher","first-page":"667","DOI":"10.1016\/j.jpowsour.2013.08.039","volume":"246","author":"X Chen","year":"2014","unstructured":"Chen, X., Shen, W., Cao, C., Kapoor, A.: A novel approach for state of charge estimation based on adaptive switching gain sliding mode observer in electric vehicles. J Power Sour 246(15), 667\u2013678 (2014)","journal-title":"J Power Sour"},{"key":"1_CR10","doi-asserted-by":"crossref","unstructured":"Estrada A, Plestan F (2013) Second order sliding mode output feedback control with switching gains application to the control of a pneumatic actuator. J Franklin Inst","DOI":"10.23919\/ECC.2013.6669711"},{"issue":"2013","key":"1_CR11","first-page":"1","volume":"2013","author":"J Fei","year":"2013","unstructured":"Fei, J., Wu, D.: Adaptive sliding mode control using robust feedback compensator for MEMS gyroscope. Math Probl Eng 2013(2013), 1\u201310 (2013)","journal-title":"Math Probl Eng"},{"key":"1_CR12","doi-asserted-by":"crossref","unstructured":"Ferrara A, Capisani LM (2012) Second order sliding modes to control and supervise industrial robot manipulators. Sliding modes after the first decade of the 21st century. Lecture notes in control and information sciences. Springer, Berlin, pp 541\u2013567","DOI":"10.1007\/978-3-642-22164-4_20"},{"key":"1_CR13","unstructured":"Fossas E, Ras A (2002) Second order sliding mode control of a buck converter. In: Proceedings of the 41st IEEE conference on decision and control, Las Vegas, Nevada"},{"key":"1_CR14","doi-asserted-by":"crossref","unstructured":"Fridman L (2012) Sliding mode enforcement after 1990: main results and some open oroblems. Sliding modes after the first decade of the 21st century. Lecture notes in control and information sciences. Springer, Berlin, pp 3\u201357","DOI":"10.1007\/978-3-642-22164-4_1"},{"key":"1_CR15","unstructured":"Fu Y-C, Lin J-S (2005) Nonlinear backstepping control design of the furuta pendulum. In: Proceedings of the 2005 IEEE conference on control applications, Toronto, Canada"},{"issue":"2012","key":"1_CR16","doi-asserted-by":"publisher","first-page":"77","DOI":"10.1016\/j.proeng.2012.04.167","volume":"35","author":"O Garcia-Alarcon","year":"2012","unstructured":"Garcia-Alarcon, O., Puga-Guzman, S., Moreno-Valenzuela, J.: On parameter identification of the furuta pendulum. Proced Eng 35(2012), 77\u201384 (2012)","journal-title":"Proced Eng"},{"issue":"1","key":"1_CR17","doi-asserted-by":"publisher","first-page":"74","DOI":"10.1016\/j.rcim.2013.08.003","volume":"30","author":"L Gracia","year":"2014","unstructured":"Gracia, L., Sala, A., Garelli, F.: Robot coordination using task-priority and sliding-mode techniques. Robot Comput Integr Manuf 30(1), 74\u201389 (2014)","journal-title":"Robot Comput Integr Manuf"},{"key":"1_CR18","unstructured":"Haddad WM, Chellaboina V (2014) Nonlinear dynamical systems and control: a lyapunov based approach. Princeton University Press, Princeton"},{"key":"1_CR19","unstructured":"Jing Y et al (2009) Adaptive global sliding mode control strategy for the vehicle antilock braking systems. In: Proceedings of the IEEE American control conference. St. Louis, MO, USA"},{"key":"1_CR20","doi-asserted-by":"crossref","unstructured":"Kunusch C, Puleston P, Mayosky M (2012) Fundamentals of sliding-mode control design. Sliding-mode control of PEM fuel cells. Springer, New York, pp 35\u201371","DOI":"10.1007\/978-1-4471-2431-3_3"},{"issue":"8","key":"1_CR21","doi-asserted-by":"publisher","first-page":"1240","DOI":"10.1016\/j.mechatronics.2009.07.005","volume":"19","author":"PX La Hera","year":"2009","unstructured":"La Hera, P.X., Freidovich, L.B., Shiriaev, A.S., Mettin, U.: New approach for swinging up the furuta pendulum: theory and experiments. Mechatronics 19(8), 1240\u20131250 (2009)","journal-title":"Mechatronics"},{"issue":"11","key":"1_CR22","doi-asserted-by":"publisher","first-page":"1812","DOI":"10.1109\/TAC.2005.858646","volume":"50","author":"A Levant","year":"2005","unstructured":"Levant, A.: Quasi-continuous high-order sliding-mode controllers. IEEE Trans Autom Control 50(11), 1812\u20131816 (2005)","journal-title":"IEEE Trans Autom Control"},{"key":"1_CR23","unstructured":"Li H, Bai Y, Su Z (2011) Adaptive sliding mode control of electromechanical actuator with improved parameter estimation. In: Proceedings of the IEEE Asian control conference (ASCC). Kaohsiung, Taiwan"},{"key":"1_CR24","doi-asserted-by":"crossref","unstructured":"Liu J, Laghrouche S, Harmouche M, Wack M (2013) Adaptive-gain second-order sliding mode observer design for switching power converters. Control Eng Pract 2\u20138","DOI":"10.1016\/j.conengprac.2013.10.012"},{"issue":"2","key":"1_CR25","doi-asserted-by":"publisher","first-page":"357","DOI":"10.1109\/9.746266","volume":"44","author":"M Liu","year":"1999","unstructured":"Liu, M.: Decentralized control of robot manipulators: nonlinear and adaptive approaches. IEEE Trans Autom Control 44(2), 357\u2013363 (1999)","journal-title":"IEEE Trans Autom Control"},{"key":"1_CR26","doi-asserted-by":"crossref","unstructured":"Moreno JA (2012) Lyapunov approach for analysis and design of Ssecond order sliding mode algorithms. Sliding modes after the first decade of the 21st century. Lecture notes in control and information sciences. Springer, Berlin, pp 113\u2013149","DOI":"10.1007\/978-3-642-22164-4_4"},{"key":"1_CR27","doi-asserted-by":"crossref","unstructured":"Nersesov SG, Ashrafiuon H, Ghorbanian P (2010) On the stability of sliding mode control for a class of underactuated nonlinear systems.. In: Proceedings of the IEEE American control conference marriott waterfront. Baltimore, MD, USA","DOI":"10.1109\/ACC.2010.5531082"},{"issue":"2","key":"1_CR28","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1016\/j.rcim.2013.09.009","volume":"30","author":"PR Ouyang","year":"2014","unstructured":"Ouyang, P.R., Acob, J., Pano, V.: PD with sliding mode control for trajectory tracking of robotic system. Robot Comput Integr Manuf 30(2), 189\u2013200 (2014)","journal-title":"Robot Comput Integr Manuf"},{"key":"1_CR29","doi-asserted-by":"crossref","unstructured":"Punta E (2006) Multivariable second order sliding mode control of mechanical systems. In: Proceedings of the 45th IEEE conference on decision and control. San Diego, CA, USA","DOI":"10.1109\/CDC.2006.376980"},{"key":"1_CR30","doi-asserted-by":"crossref","unstructured":"Ramirez-Neria M, Sira-Ramirez H, Garrido-Moctezuma R, Luviano-Jurez A (2013) Linear active disturbance rejection control of underactuated systems: the case of the furuta pendulum. ISA Trans 1\u20138 (available online)","DOI":"10.1109\/ACC.2014.6859493"},{"issue":"5","key":"1_CR31","doi-asserted-by":"publisher","first-page":"598","DOI":"10.1109\/87.531926","volume":"4","author":"AE Rundell","year":"1996","unstructured":"Rundell, A.E., Drakunov, S.V., DeCarlo, R.A.: A sliding mode observer and controller for stabilization of rotational motion of a vertical shaft magnetic bearing. IEEE Trans Control Syst Technol 4(5), 598\u2013608 (1996)","journal-title":"IEEE Trans Control Syst Technol"},{"key":"1_CR32","unstructured":"Shkolnikov IA, Shtessel YB, Brown MDJ (2001) A second-order smooth sliding mode control. In: Proceedings of the 40th IEEE conference on decision and control. Orlando, Florida, USA"},{"key":"1_CR33","doi-asserted-by":"crossref","unstructured":"Shtessel Y, Edwards C, Fridman L, Levant A (2014) Introduction: intuitive theory of sliding mode control. Sliding mode control and observation control engineering. Springer, pp 1\u201342","DOI":"10.1007\/978-0-8176-4893-0_1"},{"key":"1_CR34","doi-asserted-by":"crossref","unstructured":"Su CY, Leung TH, Zhou QJ (1992) Force\/motion control of constrained robots using sliding mode. IEEE Trans Autom Control 37(5):668\u2013672","DOI":"10.1109\/9.135513"},{"key":"1_CR35","doi-asserted-by":"crossref","unstructured":"Utkin VI (2008) Sliding mode control: mathematical tools, design and applications. En: nonlinear and optimal control theory. Lecture notes in mathematics. Springer, Berlin, pp 289\u2013347","DOI":"10.1007\/978-3-540-77653-6_5"},{"key":"1_CR36","doi-asserted-by":"crossref","unstructured":"Xiang C, Siow SY (2004) Decentralized control of robotic manipulators with neural networks. In: Proceedings of the IEEE, 8th international conference on control, automation, robotics and vision kunming. China, Dec 2004","DOI":"10.1109\/ICARCV.2004.1469475"},{"key":"1_CR37","unstructured":"Yao B, Tomizuka M (1994) Smooth robust adaptive sliding mode control of manipulators with guaranteed transient performance. In: Proceedings of the IEEE American control conference. Baltimore, MD, USA"},{"key":"1_CR38","unstructured":"Yu H, Ozguner U (2006) Adaptive seeking sliding mode control. In: Proceedings of the IEEE, 2006 American control conference. Minneapolis, Minnesota, USA"},{"issue":"12","key":"1_CR39","doi-asserted-by":"publisher","first-page":"2464","DOI":"10.1109\/9.362847","volume":"39","author":"M Zhihong","year":"1994","unstructured":"Zhihong, M., Paplinski, A.P., Wu, H.R.: A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators. IEEE Trans Autom Control 39(12), 2464\u20132469 (1994)","journal-title":"IEEE Trans Autom Control"}],"container-title":["Studies in Computational Intelligence","Advances and Applications in Sliding Mode Control systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-11173-5_1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,2,20]],"date-time":"2023-02-20T15:39:18Z","timestamp":1676907558000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-319-11173-5_1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,11,2]]},"ISBN":["9783319111728","9783319111735"],"references-count":39,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-11173-5_1","relation":{},"ISSN":["1860-949X","1860-9503"],"issn-type":[{"value":"1860-949X","type":"print"},{"value":"1860-9503","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,11,2]]},"assertion":[{"value":"2 November 2014","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}