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Feedback stabilization of nonlinear Hamiltonian control systems |
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| Authors: | Jing‐Sin Liu Wei‐Song Lin King Yuan |
| Affiliation: | 1. Department of Electrical Engineering , National Taiwan University , Taipei, Taiwan, 10769, R.O.C.;2. Department of Mechanical‐ Engineering , National Taiwan University , Taipei, Taiwan, 10769, R.O.C. |
| Abstract: | Abstract Conditions for feedback stabilization of smooth affine nonlinear Hamiltonian systems such as robotic manipulators are given. Some results existing in the literature are unified and extended. Application to nonconservative bilinear systems in elasticity is illustrated. |
| Keywords: | feedback stabilisation nonlinear Hamiltonian systems |