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Sliding Mode algorithm is familiar in control and automation. It has many categories with different names and different methods on choosing sliding surface. Additionally, some laboratories in Vietnam have researched on this but most of their results are on simulation. Therefore, in this paper, authors present one of direction general sliding mode control- Incremental Sliding Mode Control- to control Futura Pendulum (Rotary Inverted Pendulum). Balancing and trajectory tracking problems are solved through this process. This direction is proved to work well through both simulation and experiment. [ABSTRACT FROM AUTHOR]