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Four Representative Applications of the Energy Shaping Method for Controlled Lagrangian Systems
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 Title & Authors
Four Representative Applications of the Energy Shaping Method for Controlled Lagrangian Systems
Ng, Wai Man; Chang, Dong Eui; Song, Seong-Ho;
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 Abstract
We provide a step-by-step, easy-to-follow procedure for the method of controlled Lagrangian systems. We apply this procedure to solve the energy shaping problem for four benchmark examples: the inertial wheel pendulum, an inverted pendulum on a cart, the system of ball and beam and the Furuta pendulum.
 Keywords
Controlled lagrangian system;Energy shaping;Step-by-Step design procedure;Benchmark examples;
 Language
English
 Cited by
1.
On the method of energy shaping via static output feedback for stabilization of mechanical systems, Journal of the Franklin Institute, 2015, 352, 8, 3394  crossref(new windwow)
2.
On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems, Regular and Chaotic Dynamics, 2014, 19, 5, 556  crossref(new windwow)
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