Design and Characterization of Second Order Sliding Mode Controller for Pendulum System. Al-Nahrain Journal for Engineering Sciences, [S. l.], v. 24, n. 1, p. 40–51, 2021. DOI: 10.29194/NJES.24010040. Disponível em: https://nahje.com/nahje/article/view/250. Acesso em: 12 apr. 2026.