Systems with mechanical degrees of freedom containing unstable
objects are analysed in this monograph and algorithms for their
control are developed, discussed, and numerically tested. This is
achieved by identifying unstable modes of motion and using all
available resources to suppress them. By using this approach the
region of states from which a stable regime can be reached is
maximised. The systems discussed in this book are models for
pendula and vehicles and find applications in mechatronics,
robotics as well as in mechanical and automotive engineering.
General
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