Output Feedback Nonlinear <svg style="vertical-align:-4.50008pt;width:34.849998px;" id="M1" height="20.362499" version="1.1" viewBox="0 0 34.849998 20.362499" width="34.849998"  xmlns="http://www.w3.org/2000/svg">
	<g transform="matrix(1.25,0,0,-1.25,0,20.3625)">
		<g transform="translate(72,-55.71)">
			<text transform="matrix(1,0,0,-1,-71.95,60.24)">
				<tspan style="font-size: 17.93px; " x="0" y="0">𝐻</tspan>
			</text>

			<text transform="matrix(1,0,0,-1,-56.29,55.76)">
				<tspan style="font-size: 12.55px; " x="0" y="0">∞</tspan>
			</text>

		</g>
	</g>
</svg>-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System

<table>Plot of desired trajectories for Acrobot by selecting several values of <svg height="13.425" id="M142" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 10.2 13.425" width="10.2" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,13.425)">
<g transform="translate(72,-61.26)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜙</tspan>
</text>
</g>
</g>
</svg>.</table>

Journal of Robotics

fig1

Figure 1

Figure 1: Output Feedback Nonlinear <svg style="vertical-align:-4.50008pt;width:34.849998px;" id="M1" height="20.362499" version="1.1" viewBox="0 0 34.849998 20.362499" width="34.849998"  xmlns="http://www.w3.org/2000/svg">
	<g transform="matrix(1.25,0,0,-1.25,0,20.3625)">
		<g transform="translate(72,-55.71)">
			<text transform="matrix(1,0,0,-1,-71.95,60.24)">
				<tspan style="font-size: 17.93px; " x="0" y="0">𝐻</tspan>
			</text>

			<text transform="matrix(1,0,0,-1,-56.29,55.76)">
				<tspan style="font-size: 12.55px; " x="0" y="0">∞</tspan>
			</text>

		</g>
	</g>
</svg>-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System 

Figure 1 | Output Feedback Nonlinear 
	
		
			
				𝐻
			

			
				∞
			

		
	
-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System 

Journal of Robotics

Output Feedback Nonlinear 𝐻 ∞ -Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System

Figure 1

Output Feedback Nonlinear -Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System