Journal of Robotics / 2009 / Article / Fig 6

Research Article

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

Figure 6

Time evolution of the determinants of the principal minors of the matrix 𝑃 ∈ ℝ 4 Γ— 4 𝑃 π‘š 1 , 𝑃 π‘š 2 , 𝑃 π‘š 3 , 𝑃 π‘š 4 .
718728.fig.006a
(a)
718728.fig.006b
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718728.fig.006c
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718728.fig.006d
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