Transformation synthesis for Euler-Lagrange systems

MaRDI QIDQ5440490zbMATH OpenFDO

Authors Mohamed Mabrouk, Sabeur Ammar, Jean-Claude Vivalda

Publication date 5 February 2008

zbMATH Keywords

affine formscart-pendulumEuler-Lagrange systemsstate transformation

Mathematics Subject Classification ID

Lagrange's equations (70H03) Canonical structure (93B10) Transformations (93B17) Geometric methods (93B27) Control/observation systems governed by ordinary differential equations (93C15) Stabilization of systems by feedback (93D15) Input-output approaches in control theory (93D25)

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(4)

• An adaptive speed observer for a class of nonlinear mechanical systems: theory and experiments
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• A constructive speed observer design for general Euler-Lagrange systems
• A robust adaptive velocity observer for mechanical systems transformed in cascade form

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