Abstract. A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and ...

In this paper, modelling and parameter identification of an inertia wheel pendulum benchmark is considered. This is an underactuated mechanical system useful for teaching and research. Attention is focused on deriving a ...

The problem of robustification of interconnection and damping assignment passivity-based control for underactuated mechanical system vis-à-vis matched, constant, and unknown disturbances is addressed in the paper. This is ...

In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system ...