Wosene Yirga Balcha, and Dawit Gizachew Misikir , trans. 2024. “Hierarchical Sliding Mode Control Design for Stabilization of Underactuated Wheeled Acrobot System”. International Journal of Inventive Engineering and Sciences (IJIES) 11 (12): 7-11. https://doi.org/10.35940/ijies.E7383.11121224.