Resumen

GUO, Weiping  y  LIU, Diantong. Nonlinear Recursive Design for the Underactuated IWP System. J. appl. res. technol [online]. 2014, vol.12, n.3, pp.602-606. ISSN 2448-6736.

The nonlinear feedback cascade model of the underactuated IWP is obtained through a collocated partial feedback linearization and a global change of coordinates. A nonlinear controller is designed with the nonlinear recursive technology. The system stability is proved with Lyapunov theory. The simulation results show the system is globally asymptotically stable to the origin.

Palabras llave : Underactuated mechanical system; IWP; recursive design; nonlinear control.

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