Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control

► We give the relationship between the X-Z inverted pendulum and PVTOL aircraft. ► We decompose the model of the X-Z inverted pendulum into three simple parts. ► Sliding-mode control is applied to stabilization of the X-Z inverted pendulum. ► Sliding-mode control is applied to tracking control of the X-Z inverted pendulum. ► Good control performance of the X-Z inverted pendulum is achieved.