Strongly stabilizing the Acrobot by optimizing maximal relative stability via observation point selection

DOI10.1016/J.AUTOMATICA.2025.112814MaRDI QIDQ6851057zbMATH OpenFDO

Authors Xin Xin, Xiaohui Ji, Ziyu Wang, Yannian Liu

Publication date 27 February 2026

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.AUTOMATICA.2025.112814

zbMATH Keywords

Acrobotmaximal relative stabilityminimum phaseobservation point selectionstrong stabilization

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Cites work

• A parametric optimization approach to \(H_{\infty}\) and \(H_{2}\) strong stabilization.
• A Simple Proof of Descartes's Rule of Signs
• A Topological Result on Strong Stabilization Problem
• Analysis of the energy‐based swing‐up control of the Acrobot
• CRC standard mathematical tables and formulas
• scientific article; zbMATH DE number 4070711 (Why is no real title available?)
• Minimal order strongly stabilizing controller with maximal relative stability for two-link underactuated planar robot with single sensor
• Parameterization of minimal order strongly stabilizing controllers for two-link underactuated planar robot with single sensor
• Reduced-order stable controllers for two-link underactuated planar robots
• Strong Stabilization of a Class of MIMO Systems
• Strong stabilization of high order plants

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