An underactuated mechanical system (UMS) is a system which has fewer independent
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …

For at least fifty years, the inverted pendulum has been the most popular benchmark, among
others, in nonlinear control theory. The fundamental focus of this work is to enhance the …

A high school student can create deep Q-learning code to control her robot, without any
understanding of the meaning of'deep'or'Q', or why the code sometimes fails. This book is …

Reinforcement learning (RL) techniques optimize the accumulated long-term reward of a
suitably chosen reward function. However, designing such a reward function often requires …

Data-driven transformations that reformulate nonlinear systems in a linear framework have
the potential to enable the prediction, estimation, and control of strongly nonlinear dynamics …

l\lany systems encountered in practice involve a coupling between contin uous dynamics
and discrete events. Systems in which these two kinds of dynamics coexist and interact are …

Mathematics is playing an ever more important role in the physical and biological sciences,
provoking a blurring of boundaries between scientific disciplines and a resurgence of …

This book is about dynamical systems that are" hybrid" in the sense that they contain both
continuous and discrete state variables. Recently there has been increased research …

Illustrating the power, simplicity, and generality of the concept of flatness, this reference
explains how to identify, utilize, and apply flatness in system planning and design. The book …

This thesis is devoted to nonlinear control, reduction, and classification of underactuated
mechanical systems. Underactuated systems are mechanical control systems with fewer …