Nonlinear Recursive Design for the Underactuated IWP System

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Weiping Guo
Diantong Liu

Abstract

The nonlinear feedback cascade model of the underactuated IWP is obtained through a collocated partial feedbacklinearization and a global change of coordinates. A nonlinear controller is designed with the nonlinear recursivetechnology. The system stability is proved with Lyapunov theory. The simulation results show the system is globallyasymptotically stable to the origin.

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How to Cite
Guo, W., & Liu, D. (2014). Nonlinear Recursive Design for the Underactuated IWP System. Journal of Applied Research and Technology, 12(3). https://doi.org/10.1016/S1665-6423(14)71639-6
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