{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,15]],"date-time":"2026-03-15T23:25:22Z","timestamp":1773617122651,"version":"3.50.1"},"reference-count":17,"publisher":"Pleiades Publishing Ltd","issue":"8","license":[{"start":{"date-parts":[[2022,8,1]],"date-time":"2022-08-01T00:00:00Z","timestamp":1659312000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2022,8,1]],"date-time":"2022-08-01T00:00:00Z","timestamp":1659312000000},"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":["Autom Remote Control"],"published-print":{"date-parts":[[2022,8]]},"DOI":"10.1134\/s000511792208001x","type":"journal-article","created":{"date-parts":[[2022,9,16]],"date-time":"2022-09-16T09:07:22Z","timestamp":1663319242000},"page":"1151-1171","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Control of an Inverted Pendulum on a Wheel"],"prefix":"10.1134","volume":"83","author":[{"given":"L. B","family":"Rapoport","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A. A.","family":"Generalov","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"137","published-online":{"date-parts":[[2022,9,16]]},"reference":[{"issue":"1","key":"2308_CR1","doi-asserted-by":"publisher","first-page":"6","DOI":"10.3103\/S0025654413010020","volume":"48","author":"Yu.G. Martynenko","year":"2013","unstructured":"Martynenko, Yu.G. and Formal\u2019skii, A.M., Controlled pendulum on a movable\nbase, Mech. Solids, 2013, vol. 48, no. 1,\npp. 6\u201318.","journal-title":"Mech. Solids"},{"key":"2308_CR2","volume-title":"Upravlenie dvizheniem neustoichivykh ob\u201dektov (Control of Motion of Unstable Objects)","author":"A.M. Formal\u2019skii","year":"2012","unstructured":"Formal\u2019skii, A.M., Upravlenie dvizheniem neustoichivykh\nob\u201dektov (Control of Motion of Unstable Objects), Moscow:\nFizmatlit, 2012."},{"key":"2308_CR3","volume-title":"Nelineinye sistemy (Nonlinear Systems)","author":"Kh.K. Khalil","year":"2009","unstructured":"Khalil, Kh.K., Nelineinye sistemy (Nonlinear Systems),\nMoscow\u2013Izhevsk: IKI-RKhD, 2009."},{"key":"2308_CR4","unstructured":"Tkachev, S.B., Stabilization of nonminimum phase affine systems using\nlinearization in part of the variables, Nauka Obraz. Izd. MGTU im.\nN.E. Baumana, 2011, no. 11, pp. 1\u201329."},{"key":"2308_CR5","volume-title":"Sliding Mode Control in Electro-Mechanical Systems","author":"V.I. Utkin","year":"2009","unstructured":"Utkin, V.I., Guldner, J., and Shi, J., Sliding\nMode Control in Electro-Mechanical Systems, Boca Raton: CRC\nPress, 2009."},{"key":"2308_CR6","unstructured":"Jung-Su Ha and Ju-Jang Lee, Position control of mobile two wheeled inverted\npendulum robot by sliding mode control, Proc. 12th Int. Conf.\nControl Autom. Syst., 2012, pp. 715\u2013719."},{"key":"2308_CR7","volume-title":"Advanced Control of Wheeled Inverted Pendulum Systems","author":"Zhijun Li","year":"2013","unstructured":"Zhijun Li, Chenguang Yang, and Liping Fan, Advanced Control of Wheeled Inverted Pendulum Systems,\nBerlin\u2013Heidelberg\u2013New York: Springer, 2013."},{"issue":"1","key":"2308_CR8","doi-asserted-by":"publisher","first-page":"78","DOI":"10.1134\/S0005117922010064","volume":"83","author":"A.V. Pesterev","year":"2022","unstructured":"Pesterev, A.V. and Morozov, Yu.V., Stabilization of a cart with inverted\npendulum, Autom. Remote Control, 2022, vol. 83, no. 1,\npp. 78\u201391.","journal-title":"Autom. Remote Control"},{"key":"2308_CR9","first-page":"236","volume":"1340","author":"A.V. Pesterev","year":"2020","unstructured":"Pesterev, A.V., Morozov, Yu.V., and Matrosov, I.V., On optimal selection of\ncoefficients of a controller in the point stabilization problem for a robot-wheel, Commun. Comput. Inf. Sci. (CCIS), 2020, vol. 1340,\npp. 236\u2013249.","journal-title":"Commun. Comput. Inf. Sci. (CCIS)"},{"issue":"9","key":"2308_CR10","doi-asserted-by":"publisher","first-page":"1256","DOI":"10.1109\/9.536496","volume":"41","author":"A.R. Teel","year":"1996","unstructured":"Teel, A.R., A nonlinear small gain theorem for the analysis of control systems\nwith saturation, Trans. Autom. Control IEEE, 1996,\nvol. 41, no. 9, pp. 1256\u20131270.","journal-title":"Trans. Autom. Control IEEE"},{"issue":"1","key":"2308_CR11","doi-asserted-by":"publisher","first-page":"9","DOI":"10.1134\/S1064230707010030","volume":"46","author":"S.A. Reshmin","year":"2007","unstructured":"Reshmin, S.A. and Chernous\u2019ko, F.L., A time-optimal control synthesis for a\nnonlinear pendulum, J. Comput. Syst. Sci. Int., 2007,\nvol. 46, no. 1, pp. 9\u201318.","journal-title":"J. Comput. Syst. Sci. Int."},{"key":"2308_CR12","doi-asserted-by":"publisher","first-page":"265","DOI":"10.1016\/j.automatica.2008.07.004","volume":"45","author":"B. Srinivasan","year":"2009","unstructured":"Srinivasan, B., Huguenin, P., and Bonvin, D., Global stabilization of an\ninverted pendulum. Control strategy and experimental verification, Automatica, 2009, vol. 45, pp. 265\u2013269.","journal-title":"Automatica"},{"key":"2308_CR13","doi-asserted-by":"crossref","unstructured":"Gordillo, F. and Aracil, J., A new controller for the inverted pendulum on a\ncart, Int. J. Robust Nonlinear Control, 2008, no. 18,\npp. 1607\u20131621.","DOI":"10.1002\/rnc.1300"},{"key":"2308_CR14","volume-title":"Matematicheskoe modelirovanie kak nauka i iskusstvo (Mathematical Modeling as a Science and Art)","author":"Yu.I. Neimark","year":"2010","unstructured":"Neimark, Yu.I., Matematicheskoe modelirovanie kak nauka i\niskusstvo (Mathematical Modeling as a Science and Art), Nizhny Novgorod: Izd.\nNizhegorod. Univ., 2010."},{"key":"2308_CR15","unstructured":"https:\/\/wxMaxima-developers.github.io\/wxmaxima\/ ."},{"key":"2308_CR16","volume-title":"Matematicheskaya teoriya avtomaticheskogo upravleniya (Mathematical Theory of Automatic Control)","author":"B.T. Polyak","year":"2019","unstructured":"Polyak, B.T., Khlebnikov, M.V., and Rapoport, L.B., Matematicheskaya teoriya avtomaticheskogo upravleniya\n(Mathematical Theory of Automatic Control), Moscow: URSS, 2019."},{"key":"2308_CR17","volume-title":"Matematicheskaya teoriya optimal\u2019nykh protsessov (Mathematical Theory of Optimal Processes)","author":"L.S. Pontryagin","year":"1983","unstructured":"Pontryagin, L.S., Boltyanskii, V.G., Gamkrelidze, R.V., and Mishchenko, E.F., Matematicheskaya teoriya optimal\u2019nykh protsessov (Mathematical\nTheory of Optimal Processes), Moscow: Nauka, 1983."}],"container-title":["Automation and Remote Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1134\/S000511792208001X.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1134\/S000511792208001X","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1134\/S000511792208001X.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,15]],"date-time":"2026-03-15T22:34:44Z","timestamp":1773614084000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1134\/S000511792208001X"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8]]},"references-count":17,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2022,8]]}},"alternative-id":["2308"],"URL":"https:\/\/doi.org\/10.1134\/s000511792208001x","relation":{},"ISSN":["0005-1179","1608-3032"],"issn-type":[{"value":"0005-1179","type":"print"},{"value":"1608-3032","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,8]]},"assertion":[{"value":"14 February 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 April 2022","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 April 2022","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 September 2022","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}