Leonid B. Freidovich, Anton S. Shiriaev, Francisco Gordillo, Fabio Gómez-Estern, Javier Aracil. Partial-Energy-Shaping Control for Orbital Stabilization of High-Frequency Oscillations of the Furuta Pendulum. IEEE Trans. Contr. Sys. Techn., 17(4):853-858, 2009. [doi]
Abstract is missing.