{"id":"https://openalex.org/W2168474753","doi":"https://doi.org/10.1109/cca.2005.1507107","title":"Nonlinear backstepping control design of the furuta pendulum","display_name":"Nonlinear backstepping control design of the furuta pendulum","publication_year":2005,"publication_date":"2005-09-12","ids":{"openalex":"https://openalex.org/W2168474753","doi":"https://doi.org/10.1109/cca.2005.1507107","mag":"2168474753"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2005.1507107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113698427","display_name":"Yung-Chih Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I193365169","display_name":"National Chi Nan University","ror":"https://ror.org/03ha6v181","country_code":"TW","type":"education","lineage":["https://openalex.org/I193365169"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Yung-Chih Fu","raw_affiliation_strings":["Department of Electrical Engineering, National Chi Nan University, Puli, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chi Nan University, Puli, Taiwan","institution_ids":["https://openalex.org/I193365169"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111766464","display_name":"Jung-Shan Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I193365169","display_name":"National Chi Nan University","ror":"https://ror.org/03ha6v181","country_code":"TW","type":"education","lineage":["https://openalex.org/I193365169"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jung-Shan Lin","raw_affiliation_strings":["Faculty of Department of Electrical Engineering, National Chi Nan University, Puli, Taiwan"],"affiliations":[{"raw_affiliation_string":"Faculty of Department of Electrical Engineering, National Chi Nan University, Puli, Taiwan","institution_ids":["https://openalex.org/I193365169"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113698427"],"corresponding_institution_ids":["https://openalex.org/I193365169"],"apc_list":null,"apc_paid":null,"fwci":0.958,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.82529025,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"96","last_page":"101"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/furuta-pendulum","display_name":"Furuta pendulum","score":0.9721732139587402},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.940497100353241},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8756536245346069},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7002900838851929},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6791150569915771},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6692559123039246},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.6305993795394897},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.6201016902923584},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4911927878856659},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47641217708587646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44991326332092285},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.44207048416137695},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4241541028022766},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.328031450510025},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3097236752510071},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.251065194606781},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19313132762908936},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.10983586311340332}],"concepts":[{"id":"https://openalex.org/C191601290","wikidata":"https://www.wikidata.org/wiki/Q5509824","display_name":"Furuta pendulum","level":5,"score":0.9721732139587402},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.940497100353241},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8756536245346069},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7002900838851929},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6791150569915771},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6692559123039246},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.6305993795394897},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.6201016902923584},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4911927878856659},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47641217708587646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44991326332092285},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.44207048416137695},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4241541028022766},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.328031450510025},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3097236752510071},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.251065194606781},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19313132762908936},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.10983586311340332},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2005.1507107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1595580563","https://openalex.org/W1933177953","https://openalex.org/W1941843239","https://openalex.org/W2090167557","https://openalex.org/W2103174824","https://openalex.org/W2111683789","https://openalex.org/W2118462194","https://openalex.org/W2124351917","https://openalex.org/W2128011079","https://openalex.org/W2128592712","https://openalex.org/W2138975870","https://openalex.org/W2139810043","https://openalex.org/W2143272869","https://openalex.org/W2154732606","https://openalex.org/W2159673225","https://openalex.org/W4250158653","https://openalex.org/W6640377241","https://openalex.org/W6680572172","https://openalex.org/W6683307928"],"related_works":["https://openalex.org/W3216306759","https://openalex.org/W2072662323","https://openalex.org/W2655681456","https://openalex.org/W2041698009","https://openalex.org/W2612646280","https://openalex.org/W2912068311","https://openalex.org/W2047755970","https://openalex.org/W2333418779","https://openalex.org/W4306702009","https://openalex.org/W2518122872"],"abstract_inverted_index":{"The":[0,24,53],"paper":[1],"develops":[2],"a":[3,96],"nonlinear":[4,92,99],"backstepping":[5,93,100],"design":[6,74,85],"scheme":[7],"for":[8],"the":[9,13,33,44,68,73,77,83,87,104,108,120,124],"balancing":[10],"control":[11,25,84,110],"of":[12,76,86,123],"Furuta":[14,55,89],"pendulum":[15,22,34,56,90,127],"which":[16],"is":[17,27,58,80],"an":[18],"underactuated":[19],"rotational":[20],"inverted":[21],"system.":[23],"objective":[26],"not":[28],"only":[29],"to":[30,38,42,47,49,64,82,106,118],"swing":[31],"up":[32],"from":[35],"downward":[36],"position":[37],"upright,":[39],"but":[40],"also":[41],"drive":[43],"actuating":[45],"arm":[46],"return":[48],"its":[50],"starting":[51],"point.":[52],"linearized":[54,78],"system":[57,69,79,128],"investigated":[59],"in":[60,62],"advance":[61],"order":[63],"analyze":[65],"and":[66],"realize":[67],"properties.":[70],"And":[71],"then,":[72],"concept":[75],"extended":[81],"original":[88],"with":[91],"algorithm.":[94],"As":[95],"result,":[97],"our":[98],"controller":[101],"indeed":[102],"possesses":[103],"potentials":[105],"achieve":[107],"desired":[109],"goals.":[111],"Furthermore,":[112],"some":[113],"simulation":[114],"results":[115],"are":[116],"given":[117],"illustrate":[119],"excellent":[121],"performance":[122],"resulting":[125],"closed-loop":[126]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
