This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a
mechanical system with degree of underactuation one while simultaneously stabilizing a …

Soft robots are a group of robots made from highly compliant materials. Compared to their
rigid counterparts, soft robots show better mobility and stronger adaptability to the …

We show that perturbations of polynomial matrices of full normal-rank can be analyzed via
the study of perturbations of companion form linearizations of such polynomial matrices. It is …

Efficient and accurate structure exploiting numerical methods for solving the periodic Riccati
differential equation (PRDE) are addressed. Such methods are essential, for example, to …

In this thesis we investigate virtual holonomic constraints (VHCs) for mechanical control
systems. A VHC is a relation among the configuration variables of a mechanical system that …

In this chapter, the software tool StratiGraph for computing and visualizing closure hierarchy
graphs associated with different orbit and bundle stratifications is presented. In addition, we …

In this paper, we investigate, simultaneously, the null-controllability via the feedback control
method and the turnpike property of dynamic systems arising from population dynamics …

Quadruped robots are four legged robots which generally mimic animal characteristics [1][2]
such as those of cats, dogs and cheetahs. Theoretically, these can be superior to wheeled …

V osmdesátých letech 19. století a na počátku let devadesátých pub-likoval pražský
matematik Eduard Weyr důležité výsledky z teorie matic. Jeho práce zůstaly po několik …

P (s):= Pdsd+...+ P1s+ P0, where Pi∈ Cm× n, behaves under small perturbations is a critical
task, since computing the structural elements (elementary divisors and minimal indices) of P …