Miloudi, LaliaToubal Maamar, Alla EddineElamri, OumaymahBenabdallah, Tassadit2026-02-082025DOI:10.1109/ICAAID68975.2025.11358192https://dspace.univ-boumerdes.dz/handle/123456789/16065This paper proposes a resilient sliding mode control (SMC) strategy for the stabilization of a cart-pendulum system, tackling significant issues in nonlinear control, including parametric uncertainties and external disturbances. The suggested solution uses a two-step process: first, an open-loop energy-based swing-up to lift the pendulum, and then a closedloop SMC phase to keep it stable. The designed controller uses a saturation function to reduce chattering, which is different from methods that depend on linearized models or complicated gain tuning. The simulation results show that the accuracy is very high, with settling times of about 5 seconds for the pendulum angle and 7 seconds for the cart position. The controller works well even when the system mass and disturbances change by 10%, as long as the cart can only move ±0.5 m and the control forces can only be ±10 N. Stability is reached from the most unfavorable initial condition, the pendulum's downward-hanging position, with a steady-state error of under 1% in essential state variables. This work offers a computationally efficient and adaptive solution, appropriate for real-time applications in robotics and aerospace where resilience to nonlinear dynamics and uncertainty is essential.enDynamic systemsInverted pendulumNonlinear controlSliding mode controlStabilityOther