... Ogata, K. (1 970 ). Modern Control Engineering, Prentice-Hall, Englewood Cliffs, New Jersey, pp. 277 – 279 . Phillips, L. C. (1994). Control of a dual inverted pendulum system using linear-quadratic ... sections of sliding mode preliminaries, designed control laws, which satisfy sliding conditions, lead to perfect tracking even with some model uncertainties. However, Recent Advances in Robust ... However, due to parametric uncertainties and modeling inaccuracies chattering can be observed which causes a major problem in applying SMC alone. In general, the chattering enhances the driver fatigue...