The inertia wheel pendulum (IWP) is a widely studied nonlinear benchmark underactuated system and its control problem is a challenging task for its underactuated nature. This paper considers the IWP stabilization problem with the classic sliding mode method. The nonlinear canonical model of the underactuated IWP is obtained through a collocated partial feedback linearization and two g... https://jalyttlers.shop/product-category/measuring-spoon-set/