@CHAPTER{ iet:/content/books/10.1049/pbce111e_ch3, author = {Jesus Mendoza-Avila}, affiliation = {Departamento de Ingeniería de Control y Robótica, Universidad NacionalAutónoma De México}, author = {Ismael Castillo}, affiliation = {Departamento de Ingeniería de Control y Robótica, Universidad NacionalAutónoma De México}, keywords = {supertwisting algorithm;arbitrary relative degree nominal controllers;singular linear quadratic method;performance index;sliding-mode controller;higher order sliding-mode stabilization;robustification method;inverted cart-pendulum system;LQ method;integral sliding modes;system sensors;continuous higher order sliding-mode controller;natural relationship;system actuators;arbitrary relative degree optimal sliding surfaces;}, title = {Higher order sliding-mode stabilization of inverted cart-pendulum}, booktitle = The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations, publisher = {Institution of Engineering and Technology}, year = {2017}, pages = {71-91}, series = {Control, Robotics and Sensors}, doi = {10.1049/PBCE111E_ch3}, url = {https://digital-library.theiet.org/;jsessionid=20s8utcr2klai.x-iet-live-01content/books/10.1049/pbce111e_ch3} }