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— Numerous robotic tasks associated with underactu-ation 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)
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)
" Solving a class of rank minimization problems via semi-definite programs, with applications to the fixed order output feedback synthesis, " in Proc. A collection of robust control problems leading to LMI's, " in Proc. Control system synthesis via bilinear matrix inequalities, " in Proc. [22] C. Scherer, " Robust generalized H control for uncertain and LPV(More)