Linear and nonlinear potential shaping for stabilization
Our first chapter on control design is concerned with somewhat classic methods for stabilization. The techniques described here involve linearization methods and potential energy shaping methods. Although these techniques are somewhat limited in scope, they are valuable because they provide some insight into the problem of stabilization, both generally and for mechanical systems. Readers can then use the experience gained from this chapter to more easily read the literature on stabilization, some of which is discussed in Section 10.5.
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