Control of Underactuated Mechanical Systems : Stabilisation and Limit Cycle Generation

Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generationclearly explains stabilization and limit cycle generation in underactuated mechanical systems (UMS),addressing control design challenges and demonstrating concepts through real-time experiments. The book begins with advancements in UMS, introducing key concepts such as stabilization and limitcycle generation, supported by literature examples. It then focuses on the inertia wheel invertedpendulum, presenting a detailed discussion. The second part tackles stabilization, offering variouscontrol solutions validated through numerical simulations and real-time experiments. The finalpart addresses stable limit cycle generation, detailing three proposed control solutions and theirvalidation through different case studies. This book is a valuable resource for PhD and Master students, engineers, researchers, and educators. It provides guidance in robotics and automatic control, utilizing a simplified methodology forcontrolling underactuated mechanical systems.