Controlling the variable length pendulum: Analysis and Lyapunov based design methods

Milan Anderle, Pieter Appeltans, Sergej Celikovský, Wim Michiels, Tomás Vyhlídal. Controlling the variable length pendulum: Analysis and Lyapunov based design methods. J. Franklin Institute, 359(3):1382-1406, 2022. [doi]

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