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Mathematical Problems in Engineering
Volume 2015, Article ID 429476, 11 pages
Research Article

Robust Regulation and Tracking Control of a Class of Uncertain 2DOF Underactuated Mechanical Systems

Engineering Faculty, Autonomous University of Baja California, 21900 Mexicali, BC, Mexico

Received 15 May 2015; Accepted 2 August 2015

Academic Editor: Wenguang Yu

Copyright © 2015 David I. Rosas Almeida et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A strategy to design and implement a robust controller for a class of underactuated mechanical systems, with two degrees of freedom, which solves the problems of regulation and trajectory tracking, is proposed. This control strategy considers the partial measurement of the state vector and the presence of parametric uncertainties in the plant; these conditions are common in the implementation of a control system. The strategy is based on the use of robust finite time convergence observers to estimate the unmeasured state variables, unknown disturbances, and other signals needed for the control system implementation. The performance of the control strategy is illustrated numerically and experimentally.