Prescribed performance-based hierarchical fast terminal sliding mode control for a rotary inverted pendulum: Design and experimental validation

Badis Ouahab, Farès Boudjema, Mohamed Amine Alouane, Kamel Kadri, Nasreddine Saadallah, Complex Systems Control and Simulators , Ecole Militaire Polytechnique, Bordj el Bahri, Process Control Laboratory, Control Engineering Department, Ecole National Polytechnique , Ecole supérieure Ali Chabati

Journal of Vibration and Control

Published online on February 09, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
This paper presents a prescribed performance-based hierarchical fast terminal sliding mode control (PP-HR-FTSMC) approach for stabilizing a rotary inverted pendulum (RIP). The proposed controller ensures finite-time convergence while enforcing a ...