Recurrence, controllability, and stabilization of juggling

@article{Lynch2001RecurrenceCA,
  title={Recurrence, controllability, and stabilization of juggling},
  author={Kevin M. Lynch and Craig K. Black},
  journal={IEEE Trans. Robotics and Automation},
  year={2001},
  volume={17},
  pages={113-124}
}
This paper applies the idea of forced recurrence to demonstrate controllability and stabilizability of a single-input juggling system. Nonlinear optimization is used to find controls in a neighborhood of the recurrent controls that drive the system toward the goal trajectory. The approach is demonstrated on an experimental juggling system. 
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