Stabilization for a class of underactuated mechanical systems

F. Mnif*, J. Ghommem

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


In this paper, we study the control problem for a special class of Underactuated mechanical systems addressed as nontriangular form underactuated mechanical systems. Specific changes of coordinates are introduced to define this class, which includes many important models of mechanical systems examples. The main result of the paper is the construction of a nonlinear feedback controller for a class of underactuated mechanical systems for which the closed loop equilibrium at the origin is made semiglobally stable. Our study is based on the control of a whirling 2 DOF underactuated pendulum.

Original languageEnglish
Pages (from-to)472-475
Number of pages4
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 2002


  • Nontriangular form
  • Stabilization
  • Underactuated
  • Whirling Pendulum

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture


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