# Robust integral backstepping hierarchical sliding mode controller for a ballbot system

> Research article (Mechanical Systems and Signal Processing, 2020) · cited 25× · AI/ML

**Wikidata**: [openalex:W3015848877](https://www.wikidata.org/wiki/openalex:W3015848877)  
**Source**: https://4ort.xyz/entity/robust-integral-backstepping-hierarchical-sliding-mode-controller-for-a-ballbot-system