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The control of a Rotary Inverted Pendulum (RIP) is a well-known and a challenging problem that serves as a popular benchmark in modern control system studies. The task is to design controllers which drives the pendulum from its hanging-down position to the upright position and then hold it there. The swing up is achieved using an energy based controller. In energy based control the pendulum is controlled in such a way that its energy is driven towards a value equal to the steady-state upright position. Then a mode controller switches between the swing-up controller and stabilizing controller near the upright position. For stabilization control, two control techniques are analyzed. Firstly, a sliding mode controller (SMC) is designed to stabilize the pendulum. Secondly, a state feedback controller is designed that would maintain the pendulum upright and handle disturbances up to a certain point. The state feedback …