%0 Electronic Chapter %A Jawhar Ghommam %+ National Institute of Applied Sciences and Technology %A Ahmed Chemori %+ Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier %A Faiçal Mnif %+ College of Engineering, Sultan Qaboos University %T Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system %K finite-time stabilization %K underactuated mechanical systems %K unactuated generalized coordinates %K dynamic coupling %K cart-pole system %K nonintegrable dynamic constraints %B The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations %D 2017 %I Institution of Engineering and Technology %P 165-190 %R doi:10.1049/PBCE111E_ch8 %S Control, Robotics and Sensors %U https://digital-library.theiet.org/;jsessionid=862u6ocihcblq.x-iet-live-01content/books/10.1049/pbce111e_ch8