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A cart-pendulum system has two degrees of freedom (DOF) and has only one control input. It is a well known example of underactuated nonlinear mechanical system. We analyze the dynamic properties and discuss motion planning for this 2-DOF underactuated system in this paper. First, the mathematical model of the cart-pendulum system is given. And a coordinate transformation is used to change the model...
Inertia wheel pendulum (IWP) is a typical underactuated nonlinear mechanical system. This paper concerns the stabilizing control problem for this nonlinear system. A control strategy based on coordinate transformation and time reverse is presented. The proposed strategy consists of three steps. First, a coordinate transformation is constructed for the IWP. It changes the IWP into a cascade nonlinear...
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