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Total energy shaping of a class of underactuated Port-Hamiltonian Systems using a new set of closed-loop potential shape variables

Christopher Renton, Yik Ren Teo, Tristan Perez. Total energy shaping of a class of underactuated Port-Hamiltonian Systems using a new set of closed-loop potential shape variables. In Proceedings of the 51th IEEE Conference on Decision and Control, CDC 2012, December 10-13, 2012, Maui, HI, USA. pages 4603-4609, IEEE, 2012. [doi]

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Christopher Renton

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Yik Ren Teo

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Tristan Perez

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