A simplified IDA-PBC design for underactuated mechanical systems with applications


We develop a method to simplify the partial differential equations (PDEs) associated to the potential energy for interconnection and damping assignment passivity based control (IDA-PBC) of a class of underactuated mechanical systems (UMSs). Solving the PDEs, also called the matching equations, is the main difficulty in the construction and application of… (More)
DOI: 10.1016/j.ejcon.2015.12.001

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