A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems (Q1433075)

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A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems
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    A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems (English)
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    15 June 2004
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    A discontinuous feedback tracking controller for a nonlinear multi-input/multi-output (MIMO) underactuated mechanical system using the Lyapunov stability technique is studied. The controller parameters are chosen from conditions when the Lyapunov stability theorem is satisfied.
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    discontinuous feedback tracking controller
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    multi-input/multi-output mechanical system
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    Lyapunov stability technique
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    underactuated system
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