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- W1567777572 abstract "A mechanical system is said to be quasi-linearizable if there is a linear transform of velocity that eliminates all terms quadratic in the velocity from the equations of motion of the system. It is known that controller/observer design becomes tractable when the equations of motion of a mechanical system are in quasi-linearized form. In this paper, we examine quasi-linearizability of the following seven benchmark control mechanical systems: a planar PPR robot, the inverted pendulum on a cart, the TORA system, the mass-beam system, the Furuta pendulum, the Pendubot/Acrobot system, and a magnetic suspension system. We show that the first three of them are quasi-linearizable and the rest are not. We envision that this result will be useful in controller/observer synthesis for those quasi-linearizable systems." @default.
- W1567777572 created "2016-06-24" @default.
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- W1567777572 date "2015-05-01" @default.
- W1567777572 modified "2023-09-25" @default.
- W1567777572 title "Quasi-linearizability of various benchmark control mechanical systems" @default.
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- W1567777572 doi "https://doi.org/10.1109/ccece.2015.7129410" @default.
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