A Review on the Control of Second Order Underactuated Mechanical Systems

Table 2

Different control strategies that have been applied to the second order of underactuated mechanical systems.

		The Acrobot	The Pendubot	The Cart-Pole system	The crane system	The Furuta Pendulum	Inertia Wheel Pendulum	The Ball and Beam	The TORA
Linear	PID					[95]
	LQR					[96]
	Pole Placement					[97]
	Energy		[63, 64]			[65, 98]
Nonlinear	Feedback linearization	[99]	[100]	[101]		[65, 96]	[42]		[102]
	Lyapunov	[12]			[103, 104]			[105]
	Sliding mode	[106]		[107–109]	[110, 111]		[107, 112, 113]	[77, 90]	[109]
	Backstepping		[88]	[114]		[86]			[114, 115]
Intelligent	Fuzzy		[94]	[109]		[95]		[90–92, 116]	[109, 117]
	Neural Network		[64, 94]					[118]	[93]