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">
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</svg>-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System

<table>Time evolution of the output (<i>continuous line</i>) following the desired trajectory (<i>dashed line</i>) under perturbed torques.</table>

Journal of Robotics

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Figure 5: 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">
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</svg>-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System 

Figure 5 | Output Feedback Nonlinear 
	
		
			
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-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 5

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