This book provides tools for the analysis and control of underactuated systems: those with fewer control inputs than degrees of freedom to be controlled. The text is supplemented with MATLAB® simulations demonstrating the effectiveness of the methods detailed.

This book provides tools for the analysis and control of underactuated systems: those with fewer control inputs than degrees of freedom to be controlled. The text is supplemented with MATLAB® simulations demonstrating the effectiveness of the methods detailed.

This book provides tools for the analysis and control of underactuated systems: those with fewer control inputs than degrees of freedom to be controlled. The text is supplemented with MATLAB® simulations demonstrating the effectiveness of the methods detailed.