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@article{Franco:2020:10.1002/rnc.4985,
author = {Franco, E and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1002/rnc.4985},
journal = {International Journal of Robust and Nonlinear Control},
pages = {4112--4128},
title = {Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances},
url = {http://dx.doi.org/10.1002/rnc.4985},
volume = {30},
year = {2020}
}

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TY  - JOUR
AB  - This article investigates the control problem for underactuated portcontrolled Hamiltonian systems with multiple linearly parameterized additive disturbances including matched, unmatched, constant, and statedependent components. The notion of algebraic solution of the matching equations is employed to design an extension of the interconnection and damping assignment passivitybased control methodology that does not rely on the solution of partial differential equations. The result is a dynamic statefeedback that includes a disturbance compensation term, where the unknown parameters are estimated adaptively. A simplified implementation of the proposed approach for underactuated mechanical systems is detailed. The effectiveness of the controller is demonstrated with numerical simulations for the magneticlevitatedball system and for the ballonbeam system.
AU  - Franco,E
AU  - Rodriguez,y Baena F
AU  - Astolfi,A
DO  - 10.1002/rnc.4985
EP  - 4128
PY  - 2020///
SN  - 1049-8923
SP  - 4112
TI  - Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances
T2  - International Journal of Robust and Nonlinear Control
UR  - http://dx.doi.org/10.1002/rnc.4985
UR  - https://onlinelibrary.wiley.com/doi/full/10.1002/rnc.4985
UR  - http://hdl.handle.net/10044/1/79024
VL  - 30
ER  -

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