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By An-Chyau Huang,Yung-Feng Chen,Chen-Yu Kai

In this e-book, we amassed contemporary effects at the keep an eye on of underactuated mechanical structures topic to inner uncertainties and exterior disturbances. the method constructed is so common that it's not limited to a particular process yet a wide classification of underactuated platforms. numerous benchmark structures are studied during this e-book, together with special literature evaluate, approach dynamics derivation, keep an eye on challenge formula, and simulation verification. The keep an eye on process constructed in bankruptcy four is ready to stabilize these kind of benchmark structures with passable functionality whatever the underactuated dynamics and diverse uncertainties.

The e-book is written as a textual content appropriate for graduate scholars within the complex path for the keep an eye on of underactuated structures. It additionally presents worthy instruments for researchers and working towards engineers engaged on the keep watch over of underactuated mechanical systems.

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Adaptive Control of Underactuated Mechanical Systems by An-Chyau Huang,Yung-Feng Chen,Chen-Yu Kai

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