@inproceedings{a8e3be7545dc48aebbef953e216fbd91,
title = "Intelligent switching control of nonlinear non-minimum phase relative degree two systems",
abstract = "In this paper we extend earlier results on Invariance Control to the special class of nonlinear control input affine systems with relative degree two. A switching strategy for control parameters and an easy to calculate invariance region together form an intelligent switching Invariance Controller, achieving asymptotic stability for the controlled dynamics and positive invariance of a prescribed bounded state space region. Experiments with an underactuated robot show the applicability of the proposed theory.",
keywords = "geometric, nonlinear control, nonminimum phase, switching, underactuated robot",
author = "J{\"o}rg Mareczek and Simon Hecker and Martin Buss",
note = "Publisher Copyright: {\textcopyright} 2001 EUCA.; 6th European Control Conference, ECC 2001 ; Conference date: 04-09-2001 Through 07-09-2001",
year = "2001",
doi = "10.23919/ecc.2001.7076041",
language = "English",
series = "2001 European Control Conference, ECC 2001",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "985--990",
booktitle = "2001 European Control Conference, ECC 2001",
}