Journal of Robotics / 2009 / Article / Fig 4

Research Article

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

Figure 4

Phase portrait of the first joint trajectory and desired trajectory ( + ) for the unperturbed case (a) and perturbed case (b).
718728.fig.004a
(a)
718728.fig.004b
(b)

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