Accepted Manuscript Big Bang-Big Crunch optimized hierarchical sliding-mode control of X-Z inverted pendulum Jia-Jun Wang, Tufan Kumbasar PII: S1569-190X(18)30059-5 DOI: 10.1016/j.simpat.2018.05.002 Reference: SIMPAT 1807 To appear in: Simulation Modelling Practice and Theory Received date: 2 November 2017 Revised date: 8 April 2018 Accepted date: 1 May 2018 Please cite this article as: Jia-Jun Wang, Tufan Kumbasar, Big Bang-Big Crunch optimized hierarchical sliding-mode control of X-Z inverted pendulum, Simulation Modelling Practice and Theory (2018), doi: 10.1016/j.simpat.2018.05.002 This is a PDF file of an unedited manuscript that has been accepted for publication. As a service to our customers we are providing this early version of the manuscript. The manuscript will undergo copyediting, typesetting, and review of the resulting proof before it is published in its final form. Please note that during the production process errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain.