Nonlinear H-infinity control for underactuated systems: the Furuta pendulum example
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DOI: 10.1007/s40435-017-0348-0
Abstract: The article applies nonlinear optimal (H-infinity) control to underactuated robotic systems using as a case study Furuta’s pendulum. The pendulum’s dynamic model is first transformed to an equivalent form after applying partial feedback linearization. The… read more here.
Keywords: control; nonlinear infinity; infinity control; furuta pendulum ... See more keywords