Journal of Robotics / 2009 / Article / Fig 5

Research Article

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

Figure 5

Time evolution of the output (continuous line) following the desired trajectory (dashed line) under perturbed torques.
718728.fig.005a
(a)
718728.fig.005b
(b)

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