On the Controlled Lagrangian of an inverted pendulum on a force-driven cart

Jesus Sandoval, Rafael Kelly, Víctor Santibáñez. On the Controlled Lagrangian of an inverted pendulum on a force-driven cart. In European Control Conference, ECC 2015, Linz, Austria, July 15-17, 2015. pages 992-997, IEEE, 2015. [doi]

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