Interconnection and dam** assignment passivity-based control is a new controller design
methodology developed for (asymptotic) stabilization of nonlinear systems that does not rely …

Control of underactuated mechanical systems via energy sha** is a well-established,
robust design technique. Unfortunately, its application is often stymied by the need to solve …

Total energy sha** is a controller design methodology that achieves (asymptotic)
stabilization of mechanical systems endowing the closed-loop system with a Lagrangian or …

Interconnection and dam** assignment passivity‐based control is a controller design
methodology that achieves (asymptotic) stabilization of mechanical systems endowing the …

Stabilization of mechanical systems by sha** their energy function is a well-established
technique whose roots date back to the work of Lagrange and Dirichlet. Ortega and Spong …

This article investigates underactuated systems' energy sha** control by controlled
Lagrangian (CL) method. The existence of CL based control depends on a set of matching …

Total energy sha** is a controller design methodology that achieves (asymptotic)
stabilisation of mechanical systems endowing the closed-loop system with a Lagrangian or …

A matrix control algorithm based on controlled Lagrangian method is presented in this paper
to stabilize a class of mechanical systems with underactuation degree one. Firstly, a desired …

Equilibrium stabilisation of nonlinear systems via energy sha** is a well-established,
robust, passivity-based controller design technique. Unfortunately, its application is often …

This work is mainly devoted to constructing a multisymplectic description of Lovelock's
gravity, which is an extension of General Relativity. We establish the Griffiths variational …