Journal of Robotics / 2009 / Article / Fig 3

Research Article

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

Figure 3

Schematic diagram of the acrobot where 𝑙 1 and 𝑙 2 denote the length of the nonactuated and actuated links, respectively; and π‘š 1 and π‘š 2 are the masses of each link.

We are committed to sharing findings related to COVID-19 as quickly and safely as possible. Any author submitting a COVID-19 paper should notify us at to ensure their research is fast-tracked and made available on a preprint server as soon as possible. We will be providing unlimited waivers of publication charges for accepted articles related to COVID-19. Sign up here as a reviewer to help fast-track new submissions.