Matching and digital control implementation for underactuated systems

F. Andreev, D. Auckly, L. Kapitanski, A. G. Kelkar, W. N. White

Research output: Contribution to journalArticlepeer-review

7 Scopus citations


This paper describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in this family.

Original languageEnglish (US)
Article number876960
Pages (from-to)3934-3938
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - Dec 1 2000
Externally publishedYes

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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