By An-Chyau Huang,Yung-Feng Chen,Chen-Yu Kai

In this ebook, we accrued contemporary effects at the regulate of underactuated mechanical platforms topic to inner uncertainties and exterior disturbances. the tactic built is so common that it isn't limited to a particular method yet a wide category of underactuated structures. a number of benchmark platforms are studied during this e-book, together with specified literature evaluate, process dynamics derivation, keep watch over challenge formula, and simulation verification. The keep an eye on procedure built in bankruptcy four is ready to stabilize some of these benchmark structures with passable functionality whatever the underactuated dynamics and numerous uncertainties.

The e-book is written as a textual content compatible for graduate scholars within the complex direction for the keep an eye on of underactuated platforms. It additionally presents beneficial instruments for researchers and training engineers engaged on the keep an eye on of underactuated mechanical systems.

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Adaptive Control of Underactuated Mechanical Systems by An-Chyau Huang,Yung-Feng Chen,Chen-Yu Kai

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