This paper proposes a robust feedback controller using Linear Matrix Inequalities (LMIs)
formulation for the stabilization of an underactuated mechanical system, namely the Inertia …

In this paper, we suggest a control synthesis approach for the robust stabilization of an
underactuated mechanical system, the Inertial Wheel Inverted Pendulum (IWIP), with norm …

This paper deals with the tracking approach of a self-generated stable limit cycle for an
underactuated mechanical system: The inertia wheel inverted pendulum (IWIP). Such …

This paper presents a controller-design methodology for a class of underactuated
mechanical systems that are affected by parametric uncertainties and external disturbances …

Robust control of a class of uncertain systems that have disturbances and uncertainties not
satisfying “matching” condition is investigated in this paper via a disturbance observer based …

Based on the sliding mode control methodology, this paper presents a robust control
strategy for underactuated systems with mismatched uncertainties. The system consists of a …

This paper presents a new observer‐based controller design method for Lipschitz nonlinear
systems with uncertain parameters and‐bounded disturbance inputs. In the presence of …

The rotary inverted pendulum, also named Furuta Pendulum, has been studied extensively
for control performance evaluation in under‐actuated mechanisms. The H∞ control invoking …

This brief proposes an antislip balancing controller for wheel inverted pendulum (WIP)
vehicles to deal with various traction environments. The controller is designed based on a …

A flatness based approach is proposed for the linear Active Disturbance Rejection Control
(ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable …