Input-to-state stability of PD-controlled robotic systems

@article{Angeli1999InputtostateSO,
  title={Input-to-state stability of PD-controlled robotic systems},
  author={David Angeli},
  journal={Automatica},
  year={1999},
  volume={35},
  pages={1285-1290}
}
A suucient condition for Input to State Stability is presented for systems admitting a Lyapunov function with negative semi-deenite derivative. An application to PD-controlled robotic manipulators is also described. 
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