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- Luis Alejandro Marquez Martinez, Claude H. Moog, Martín Velasco-Villa
- Kybernetika
- 2002

In modern control theory, it has been a common practice to use ordinary differential equations to model dynamic systems. However, most of real systems have delays associated -normally introduced by natural response time (of sensors, actuators, etc, . . .) , and transport (of information, mass, etc, . . .) phenomenaand a more accurate model would require the… (More)

- Xiaohua Xia, Claude H. Moog
- IEEE Trans. Automat. Contr.
- 2003

- Eduardo Aranda-Bricaire, Claude H. Moog
- Automatica
- 2008

It is shown that a discrete-time system may be linearizable by exogenous dynamic feedback, even if it cannot be linearized by endogenous feedback. This property is completely unexpected and constitutes a fundamental difference with respect to the continuous-time case. The notion of exogenous linearizing output is introduced. It is shown that existence of an… (More)

- J.-B. Pomet, E. Aranda-Bricaire, C. H. Moog
- 2002

This paper presents an (infinite dimensional) geometric framework for control system, based on infinite jet bundles, where a system is represented by a single vector field and dynamic equivalence (to be precise : equivalence by endogenous dynamic feedback) is conjugation by diffeomorphisms. These diffeomorphisms are very much related to Lie-Bäcklund… (More)

- Jessy W. Grizzle, Claude H. Moog, Christine Chevallereau
- IEEE Trans. Automat. Contr.
- 2005

Numerous robotic tasks associated with underactuation have been studied in the literature. For a large number of these in the plane, the mechanical models have a cyclic variable, the cyclic variable is unactuated, and all shape variables are independently actuated. This paper formulates and solves two control problems for this class of models. If the… (More)

- Xiaohua Xia, Luis A. Márquez, Petr Zagalák, Claude H. Moog
- Automatica
- 2002

- Claude H. Moog, Yufan Zheng, Pin Liu
- 2001

The notion of realization for single-input single-output nonlinear systems is studied based on a new notion of input/output equivalence. This equivalence relation aims to generalize the equivalence of linear time-invarian t systems in the sense of the equality of their transfer functions. Necessary and suÆcient conditions are given for the existence of a… (More)

- Xiaohua Xia, Claude H. Moog
- IEEE Trans. Automat. Contr.
- 1999

A new control concept for a class of simple underactuated mechanical system, the so-called Acrobot, is presented here. Despite being seemingly a simple system, the acrobot comprises many important difficulties when controlling the most challenging underactuated system the walking robot. This paper presents the design of the asymptotical tracking of the… (More)

- Claude H. Moog, Rafael Castro-Linares, Martín Velasco-Villa, Luis Alejandro Marquez Martinez
- IEEE Trans. Automat. Contr.
- 2000

In this paper, the disturbance decoupling problem (DDP) for a class of single-input–single-output (SISO) nonlinear systems with multiple delays in the input and the state is studied. A pioneering mathematical approach is introduced for this class of systems and is claimed to be the cornerstone of the problem. Necessary and sufficient conditions are given… (More)