Stabilization and tracking for fully actuated systems

  • Francesco Bullo
  • Andrew D. Lewis
Part of the Texts in Applied Mathematics book series (TAM, volume 49)


In this chapter we design feedback control laws for simple mechanical control systems with dissipation. We assume that the system is fully actuated and that the control set is unbounded throughout the chapter. Our approach builds on the proportional-derivative control designs presented in the previous chapter, but we are able to obtain stronger results by exploiting the full actuation. We provide a comprehensive solution to the problems of stabilization of controlled equilibrium configurations and tracking of reference trajectories.


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Copyright information

© Springer Science+Business Media New York 2005

Authors and Affiliations

  • Francesco Bullo
    • 1
  • Andrew D. Lewis
    • 2
  1. 1.Department of Mechanical & Environmental EngineeringUniversity of California at Santa BarbaraSanta BarbaraUSA
  2. 2.Department of Mathematics and StatisticsQueen’s UniversityKingstonCanada

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