Analytical solutions to the energy PDEs enable an IDA-PBC controller for rotary inverted pendulum with a new robust term for disturbances.
Some remarks on intercon- nection and damping assignment passivity-based control of mechanical systems
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Robust Energy Shaping Control of an Underactuated Inverted Pendulum
Analytical solutions to the energy PDEs enable an IDA-PBC controller for rotary inverted pendulum with a new robust term for disturbances.