This paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC). which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC). the HRNTSMC significantly reduces the chattering problem in control input and improves the convergence speed of errors. https://herbsdailyes.shop/product-category/enema-bags-and-kits/