S. Belghith

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pour éviter ses complications. which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract The delivery of a macrosomic infant is associated with a higher risk for maternofoetal complications. Shoulder dystocia is the most feared fetal complication, leading sometimes to a(More)
In this paper an adaptive control technique combined with the so-called IDA-PBC (Interconnexion Damping Assignment, Passivity Based Control) controller is proposed for the stabilization of a class of underactuated mechanical systems, namely, the Inertia Wheel Inverted Pendulum (IWIP). It has two degrees of freedom with one actuator. The IDA-PBC stabilizes(More)
Proving the robustness, vis-à-vis external disturbances of IDA-PBC (Interconnexion Damping Assignment, Passive Based Control) controller for underactuated mechanical systems is addressed in this paper. Some sufficient stability conditions on matched and unmatched disturbances are provided. As illustration we propose to revisit the application of(More)
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