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• W2963840102 abstract "In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbances. Previous works on this problem have required a number of technical assumptions to be satisfied, restricting the class of systems for which the proposed solution applies. The design proposed in this paper relaxes some of these technical assumptions." @default.
• W2963840102 created "2019-07-30" @default.
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• W2963840102 date "2017-12-01" @default.
• W2963840102 modified "2023-10-17" @default.
• W2963840102 title "Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems" @default.
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• W2963840102 doi "https://doi.org/10.1109/cdc.2017.8263862" @default.
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