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Showing 1 to 1 of 1 for “"Method of Controlled Lagrangians"”.
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Practical Challenges in the Method of Controlled Lagrangians
The method of controlled Lagrangians is an energy shaping control technique for underactuated Lagrangian systems. Energy shaping control design methods are appealing as they retain the underlying nonlinear dynamics and can provide stability results that hold over larger domain than can be obtained …