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 …

In this paper an adaptive control technique combined with the so-called IDA-PBC
(Interconnexion Damping Assignment, Passivity Based Control) controller is proposed for …

This paper deals with the problem of obtaining stable and robust oscillations of
underactuated mechanical systems. It is concerned with the Hopf bifurcation analysis of a …

We develop a method to simplify the partial differential equations (PDEs) associated to the
potential energy for interconnection and damping assignment passivity based control (IDA …

Improving the robustness, vis-à-vis matched input disturbances of interconnection and
damping assignment, passivity based control (IDA-PBC) for a class of underactuated …

A control system for driving the inertia wheel pendulum to the upward position has been
reported recently in the literature based on Interconnection and Damping Assignment …

This paper deals with a control approach dedicated to stable limit cycle generation for
underactuated mechanical systems. The proposed approach is based on partial nonlinear …

Proving the robustness, vis-à-vis external disturbances of IDA-PBC (Interconnexion
Damping Assignment, Passive Based Control) controller for underactuated mechanical …

The inertia wheel pendulum (IWP) is a widely studied nonlinear benchmark underactuated
system and its control problem is a challenging task for its underactuated nature. This paper …

Interconnection and damping assignment passivity-based control (IDA-PBC) is a nonlinear
control method which stabilize a system shaping its total energy and utilizing passivity. In …