APPLICATION OF FUZZY ALGORITHM IN OPTIMIZING HIERARCHICAL SLIDING MODE CONTROL FOR PENDUBOT SYSTEM. - Xuan Dung Huynh; Duong Khanh Linh Huynh; Vu Dinh Dat; Thanh Phuong Nguyen; Minh Tam Nguyen; Van Dong Hai Nguyen (Robotica & Management, 2017)