Robust Stabilization of Furuta’s pendulum based on Continuous High Order Sliding Mode Controllers

In this manuscript a robust stabilization controller for the Furuta’s pendulum in presence of parametric uncertainties is proposed. We used a normal form transformation and partial feedback linearisation to tackle the problem with a cascade system approach, then a continuous sliding mode algorithm stabilize the cascade system. A closed-loop stability analysis is presented to proof asymptotic stability of the Furuta’s pendulum equilibrium point. Also, experiments over a real Furuta’s pendulum are presented to corroborate the theoretical results shown.