Journal of Robotics / 2009 / Article / Tab 1

Research Article

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

Table 1

Parameter values for the Acrobot.

𝑐 1 𝑐 2 𝑐 3 𝑐 4 𝑐 5

0 . 0 0 4 3 0 . 0 0 5 1 0 . 0 0 3 4 0 . 0 4 9 4 0 . 0 3 8

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