Journal of Robotics / 2009 / Article / Fig 7

Research Article

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

Figure 7

Time evolution of the determinants of the principal minors of the matrix 𝑍 ∈ ℝ 4 Γ— 4 𝑍 π‘š 1 , 𝑍 π‘š 2 , 𝑍 π‘š 3 , 𝑍 π‘š 4 .
718728.fig.007a
(a)
718728.fig.007b
(b)
718728.fig.007c
(c)
718728.fig.007d
(d)

Article of the Year Award: Outstanding research contributions of 2020, as selected by our Chief Editors. Read the winning articles.