Effective control strategies for rotary inverted pendulum system: Energy-based, linear quadratic regulator, and hierarchical sliding mode control techniques

The paper develops effective swing-up energy-based control and stabilization task. It also presents two controllers, linear quadratic regulator (LQR) and hierarchical sliding mode control (HSMC), that effectively handle the stabilization problem.
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Effective control strategies for rotary inverted pendulum system: Energy-based, linear quadratic regulator, and hierarchical sliding mode control techniques