Robust Integral Action for Underactuated Mechanical Systems
8.7 A New Robust Integral Action for Underactuated Mechanical Systems
8.8 Examples
Bibliography
Notes
19 Appendix A Passivity and Stability Theory for State‐Space Systems A.1 Characterization of Passive Systems A.2 Passivity Theorem A.3 Lyapunov Stability of Passive Systems Bibliography Note
20 Appendix B Two Stability Results and Assignable Equilibria B.1 Two Stability Results B.2 Assignable Equilibria Bibliography
21 Appendix C Some Differential Geometric Results C.1 Invariant Manifolds C.2 Gradient Vector Fields C.3 A Technical Lemma Bibliography
22 Appendix D Port–Hamiltonian Systems D.1 Definition of Port‐Hamiltonian Systems and Passivity Property D.2 Physical Examples D.3 Euler–Lagrange Models D.4 Port‐Hamiltonian Representation of GAS Systems Bibliography
23 Index
List of Tables
1 Chapter 7Table 7.1 System parameters.Table 7.2 Initial conditions.Table 7.3 Gains sets.
List of Illustrations
1 Chapter 2Figure 2.1 Block diagram representation of the closed‐loop system of Proposi...
2 Chapter 3Figure 3.1 Feedback decomposition of the closed‐loop system.Figure 3.2 Compressor map: the curves are parameterized by
3 Chapter 4Figure 4.1 Schematic of the quadratic boost converter.Figure 4.2 Schematic diagram of the equivalent circuit of a VSR in
4 Chapter 5Figure 5.1 Two‐tanks system.
5 Chapter 7Figure 7.1 Time histories of the (a) position of the cart
6 Chapter 8Figure 8.1 Graph of the state space showing two sheets of the invariant foli...Figure 8.2 (a, b) Angle of the arm
