Approximate feedback linearization for nonlinear systems and its application to the ACROBOT

Kou Yamada, Atsuyuki Yuzawa. Approximate feedback linearization for nonlinear systems and its application to the ACROBOT. In American Control Conference, ACC 2002, Anchorage, Alaska, USA, May 8-10 2002. pages 1672-1677, IEEE, 2002. [doi]

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