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Title: Discrete-time modeling and control of an under-actuated robotic system
Author: Rivera, J.
Garcia, L.
Ortega, S.
Raygoza, J.
Issue Date: 2010
Abstract: In this work a discrete-time model for the Pendubot is proposed based on the symplectic Euler method. Then, a discrete-time sliding mode controller and observer are designed. A simulation study is carried on in order to verify the good performance of the proposed modeling and control scheme when compared to the case of using explicit Euler method for discrete-time modeling. © 2010 IEEE.
Appears in Collections:Producción científica UdeG (prueba)

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