论文信息 - Singularities in feedback linearisation of an underactuated 3-link pendulum

Singularities in feedback linearisation of an underactuated 3-link pendulum

Paper presents global feedback linearisation problem for a 3-link underactuated pendulum. Singularities of decoupling matrix are analysed and removed by additional physical parameters requirements. Preliminaries for the class of nonlinear singularity-free feedback linearisation controlled systems are estimated.

Tomasz Barcinski | Adam Wojciech Lukomski

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