What is it about?
The paper is about commutation of upper bound of control law of IDA-PBC method for stabilization of underactuated systems
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This page is a summary of: Bounded inputs total energy shaping for a class of underactuated mechanical systems, International Journal of Robust and Nonlinear Control, September 2021, Wiley, DOI: 10.1002/rnc.5765.
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