{"id":"https://openalex.org/W1517391048","doi":"https://doi.org/10.1109/iecon.2014.7048916","title":"Stabilization of Triple Furuta pendulum by sliding mode control","display_name":"Stabilization of Triple Furuta pendulum by sliding mode control","publication_year":2014,"publication_date":"2014-10-01","ids":{"openalex":"https://openalex.org/W1517391048","doi":"https://doi.org/10.1109/iecon.2014.7048916","mag":"1517391048"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2014.7048916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2014.7048916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"conference-paper","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/A5110034977","display_name":"Ken Sugawara","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ken Sugawara","raw_affiliation_strings":["Department of Robotics and Mechatronics, Denki Unversity, Adachi-ku, Tokyo, JAPAN","Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki Unversity, 5 Senju-Asahi-Cho, Adachi-ku, Tokyo 120-8551, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Denki Unversity, Adachi-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki Unversity, 5 Senju-Asahi-Cho, Adachi-ku, Tokyo 120-8551, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009352856","display_name":"Masaki Izutsu","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Izutsu","raw_affiliation_strings":["Department of Robotics and Mechatronics, Denki Unversity, Adachi-ku, Tokyo, JAPAN","Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki Unversity, 5 Senju-Asahi-Cho, Adachi-ku, Tokyo 120-8551, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Denki Unversity, Adachi-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki Unversity, 5 Senju-Asahi-Cho, Adachi-ku, Tokyo 120-8551, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102409387","display_name":"Shoshiro Hatakeyama","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shoshiro Hatakeyama","raw_affiliation_strings":["Department of Robotics and Mechatronics, Denki Unversity, Adachi-ku, Tokyo, JAPAN","Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki Unversity, 5 Senju-Asahi-Cho, Adachi-ku, Tokyo 120-8551, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Denki Unversity, Adachi-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki Unversity, 5 Senju-Asahi-Cho, Adachi-ku, Tokyo 120-8551, Japan","institution_ids":["https://openalex.org/I165522056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053576672","display_name":"Masami Iwase","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masami Iwase","raw_affiliation_strings":["Department of Robotics and Mechatronics, Denki Unversity, Adachi-ku, Tokyo, JAPAN","Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki Unversity, 5 Senju-Asahi-Cho, Adachi-ku, Tokyo 120-8551, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Denki Unversity, Adachi-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, Graduate School of Science and Technology for Future Life, Tokyo Denki Unversity, 5 Senju-Asahi-Cho, Adachi-ku, Tokyo 120-8551, Japan","institution_ids":["https://openalex.org/I165522056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165522056"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.01882094,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2872","last_page":"2877"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9789999723434448,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9789999723434448,"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":0.9739999771118164,"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/T13644","display_name":"Control Systems in Engineering","score":0.9584000110626221,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9587451815605164},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.8571822643280029},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8085057735443115},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6553823351860046},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5936435461044312},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5364322066307068},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.5273802280426025},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5059966444969177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4549301862716675},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4132280945777893},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36455482244491577},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3514938950538635},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3361778259277344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31005486845970154},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3100040555000305},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.17590537667274475},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07956188917160034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0784638524055481},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06387796998023987}],"concepts":[{"id":"https://openalex.org/C191601290","wikidata":"https://www.wikidata.org/wiki/Q5509824","display_name":"Furuta pendulum","level":5,"score":0.9587451815605164},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8571822643280029},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8085057735443115},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6553823351860046},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5936435461044312},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5364322066307068},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.5273802280426025},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5059966444969177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4549301862716675},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4132280945777893},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36455482244491577},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3514938950538635},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3361778259277344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31005486845970154},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3100040555000305},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.17590537667274475},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07956188917160034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0784638524055481},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06387796998023987},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2014.7048916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2014.7048916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W2316483721","https://openalex.org/W2798813531","https://openalex.org/W3002318169"],"related_works":["https://openalex.org/W3216306759","https://openalex.org/W2072662323","https://openalex.org/W2149145472","https://openalex.org/W2185666822","https://openalex.org/W3090237748","https://openalex.org/W2655681456","https://openalex.org/W2605534565","https://openalex.org/W4300467530","https://openalex.org/W2041698009","https://openalex.org/W2949841909"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"author":[3,40],"present":[4,69],"a":[5,26,29,32,51,85],"system":[6,13],"which":[7,17],"named":[8],"Triple":[9,33],"Furuta":[10,34],"pendulum.":[11,35],"This":[12],"has":[14],"three":[15,74],"pendulums":[16],"placed":[18],"at":[19,25],"direct":[20],"drive":[21],"motor.":[22],"Author":[23,54],"aim":[24],"realizetion":[27],"of":[28,31,44,63,68,87],"stabilization":[30],"For":[36],"the":[37,42,47,60],"stabilizing":[38,88],"control,":[39],"derived":[41],"equation":[43],"motion":[45],"by":[46,81,90],"Eular-Lagrange":[48],"method":[49],"and":[50,66],"state":[52],"equation.":[53],"show":[55],"structural":[56],"evaluation":[57],"based":[58],"on":[59],"condition":[61],"number":[62],"controllability":[64],"matrix":[65],"design":[67],"system.":[70],"Since":[71],"there":[72],"are":[73],"pendulums,":[75],"each":[76],"link":[77],"would":[78],"be":[79],"affected":[80],"disturbance.":[82],"And":[83],"therefore":[84],"simulation":[86],"control":[89,93],"sliding":[91],"mode":[92],"with":[94],"high":[95],"robustness.":[96]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
