Leonid B. Freidovich, Anton S. Shiriaev, Fabio Gómez-Estern, Francisco Gordillo, Javier Aracil. Modification via averaging of partial-energy-shaping control for orbital stabilization: cart-pendulum example. In 45th IEEE Conference on Decision and Control, CDC 2006, San Diego, CA, USA, 13-15 December, 2006. pages 6150-6155, IEEE, 2006. [doi]
Abstract is missing.