A Sufficient Condition for the Feedback Quasilinearization of Control Mechanical Systems

Abstract

-We derive a sufficient condition for feedback quasilinearizability of control mechanical systems and apply it to show the feedback quasilinearizability of the Acrobot system.

A globally exponentially stable speed observer for a class of mechanical systems: experimental and simulation comparison with high-gain and sliding mode designs

“…It should be noted that, although the assumption of PLvCC may seem restrictive, the class contains a very long list of benchmark examples, including the pendulum on a cart, the mass and beam system, the spherical pendulum on a puck, the 3-link underactuated planar manipulator and the planar redundant manipulator with one elastic degree of freedom. In a recent paper (Chang, Song, & Kim, 2016) this class has been enlarged adding to the change of coordinates a position feedback term. New sufficient conditions for quasilinearizability are given and are shown to be satisfied by the Acrobot example.…”