@CHAPTER{ iet:/content/books/10.1049/pbce111e_ch8, author = {Jawhar Ghommam}, affiliation = {National Institute of Applied Sciences and Technology}, author = {Ahmed Chemori}, affiliation = {Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier}, author = {Faiçal Mnif}, affiliation = {College of Engineering, Sultan Qaboos University}, keywords = {finite-time stabilization;underactuated mechanical systems;unactuated generalized coordinates;dynamic coupling;cart-pole system;nonintegrable dynamic constraints;}, title = {Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system}, booktitle = The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations, publisher = {Institution of Engineering and Technology}, year = {2017}, pages = {165-190}, series = {Control, Robotics and Sensors}, doi = {10.1049/PBCE111E_ch8}, url = {https://digital-library.theiet.org/;jsessionid=9m4ii1jd3eb6j.x-iet-live-01content/books/10.1049/pbce111e_ch8} }