Experimental Implementation of Integrator Backstepping and Passive Nonlinear Controllers on the RTAC Testbed

@inproceedings{Robert1998ExperimentalIO,
  title={Experimental Implementation of Integrator Backstepping and Passive Nonlinear Controllers on the RTAC Testbed},
  author={Thierry Robert and Dennis S. Bernstein and Thomas Vincent},
  year={1998}
}
The Rotational/Translational Actuator (RTAC) provides a low-dimensional nonlinear system for investigating nonlinear control techniques [l] [4]. The lossless formulation of this problem involves the nonlinear coupling of an undamped oscillator with a rotational rigid body mode. Stabilization and disturbance rejection objectives for this problem have been formulated as a benchmark problem [3]. 
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