Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

Romeo Ortega, Mark W. Spong, Fabio Gómez-Estern, Guido Blankenstein. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr., 47(8):1218-1233, 2002. [doi]

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