Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: Application to the cart-pole system

Jawhar Ghommam, Ahmed Chemori, Faiçal Mnif

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)


Underactuated mechanical systems [13, 14, 27] are those systems with less control inputs than generalized coordinates (called also degrees of freedom), i.e., they have unactuated generalized coordinates. For such systems, the unactuated generalized coordinates may indirectly be controlled by the actuated coordinates through the dynamic coupling, inherent to these systems [8]. This coupling is often nonlinear, resulting in generally nonintegrable dynamic constraints and therefore second-order nonholonomic.

Original languageEnglish
Title of host publicationThe Inverted Pendulum in Control Theory and Robotics
PublisherInstitution of Engineering and Technology
Number of pages26
ISBN (Electronic)9781785613203
Publication statusPublished - Jan 1 2018


  • Cart-pole system
  • Control system analysis and synthesis methods
  • Dynamic coupling
  • Finite-time stabilization
  • Nonintegrable dynamic constraints
  • Pole assignment
  • Stability
  • Stability in control theory
  • Unactuated generalized coordinates
  • Uncertain systems
  • Underactuated mechanical systems

ASJC Scopus subject areas

  • Engineering(all)

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