A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems

  title={A Direct Lyapunov Approach for Stabilization of Underactuated Mechanical Systems},
  author={W. White and Mikil Foss and Xin Guo},
  journal={2007 American Control Conference},
Control of underactuated systems is treated from a Lyapunov direct method approach. The method results in a set of three matching conditions, the solution of which is easily accomplished. The method developed is capable of treating more complicated systems than that reported in an earlier publication. The suitability of the Lyapunov candidate function is demonstrated through mathematical proofs. An application of the method to the ball and beam is presented. 
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