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Output Feedback Nonlinear H∞-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System
Output Feedback Nonlinear H∞-Tracking Nonminimum-Phase 2-DOF Underactuated Mechanical System
2009/9/4
Nonlinear H∞ synthesis is developed to solve the tracking control problem restricted to a two degrees-of-freedom (DOF) underactuated mechanical manipulator where position measurements are the only ava...