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Trajectory Tracking Control of a Class of Underactuated Mechanical Systems with Nontriangular Normal Form Based on Block Backstepping Approach

Mohammad-Reza Moghanni-Bavil-Olyaei, Ahmad Ghanbari, Jafar Keighobadi. Trajectory Tracking Control of a Class of Underactuated Mechanical Systems with Nontriangular Normal Form Based on Block Backstepping Approach. Journal of Intelligent and Robotic Systems, 96(2):209-221, 2019. [doi]

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