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ISSN:2164-6457 (print)
ISSN:2164-6473 (online)
Journal of Applied Nonlinear Dynamics
Miguel A. F. Sanjuan (editor), Albert C.J. Luo (editor)
Miguel A. F. Sanjuan (editor)

Department of Physics, Universidad Rey Juan Carlos, 28933 Mostoles, Madrid, Spain

Email: miguel.sanjuan@urjc.es

Albert C.J. Luo (editor)

Department of Mechanical and Industrial Engineering, Southern Illinois University Ed-wardsville, IL 62026-1805, USA

Fax: +1 618 650 2555 Email: aluo@siue.edu

Finite-Time Observer-Based Sliding Mode Control Design for a Rotary Inverted Pendulum SystemFinite-Time Observer-Based Sliding Mode Control Design for a Rotary Inverted Pendulum System

Journal of Applied Nonlinear Dynamics 15(4) (2026) 789--804 | DOI:10.5890/JAND.2026.12.002

Kamel Kadri$^{1}$, Farès Boudjema$^{2}$, Badis Ouahab$^{1}$, Imad Eddine Tibermacine$^{3}$, Yasser Bouzid$^{1}$

$^{1}$ Complex Systems Control and Simulators (CSCS) Laboratory, Ecole Militaire Polytechnique, Algires, Algeria

$^{2}$ Process Control Laboratory (PCL), National Polytechnic School (ENP), 10, Av. Hassen Badi, 182, Algeria

$^{3}$ Department of Computer, Automation and Management Engineering, Sapienza University of Rome, Italy

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Abstract

This paper presents the development of a Finite-Time Disturbance Observer-Based Sliding Mode Controller (FTDOBSMC) for controlling and stabilizing a Rotary Inverted Pendulum (RIP) system. The FTDOBSMC is composed of three key elements: a finite-time disturbance observer for estimating disturbances, a nonlinear sliding surface designed to enhance convergence speed during the sliding motion phase of sliding mode control, and a Combinatorial Reaching Law (CRL) that integrates the power reaching law and the variable speed reaching law. This combination helps minimize chattering and improve system robustness. The stability of the RIP system is validated using Lyapunov theory. Notably, simulation results demonstrate that the FTDOBSMC achieves faster convergence of the closed-loop system to the origin, maintains the pendulum angle closer to the stable equilibrium point, and exhibits superior robustness against various types of time-varying disturbances.

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