{"id":"https://openalex.org/W2114725842","doi":"https://doi.org/10.1109/acc.2007.4282758","title":"Degenerate Mechanical Systems A Framework for Tracking Control","display_name":"Degenerate Mechanical Systems A Framework for Tracking Control","publication_year":2007,"publication_date":"2007-07-01","ids":{"openalex":"https://openalex.org/W2114725842","doi":"https://doi.org/10.1109/acc.2007.4282758","mag":"2114725842"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2007.4282758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4282758","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 American Control Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102157125","display_name":"Samuel Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Samuel Y. Chang","raw_affiliation_strings":["Design Group, Department of Mechanical Engineering, University of Stanford, Stanford, CA, USA","[Stanford Univ., Stanford]"],"affiliations":[{"raw_affiliation_string":"Design Group, Department of Mechanical Engineering, University of Stanford, Stanford, CA, USA","institution_ids":[]},{"raw_affiliation_string":"[Stanford Univ., Stanford]","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089181686","display_name":"J. Christian Gerdes","orcid":"https://orcid.org/0000-0001-7948-3444"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Christian Gerdes","raw_affiliation_strings":["Design Group, Department of Mechanical Engineering, University of Stanford, Stanford, CA, USA","[Stanford Univ., Stanford]"],"affiliations":[{"raw_affiliation_string":"Design Group, Department of Mechanical Engineering, University of Stanford, Stanford, CA, USA","institution_ids":[]},{"raw_affiliation_string":"[Stanford Univ., Stanford]","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102157125"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15972222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"97","issue":null,"first_page":"754","last_page":"759"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dissipative-system","display_name":"Dissipative system","score":0.8617757558822632},{"id":"https://openalex.org/keywords/degenerate-energy-levels","display_name":"Degenerate energy levels","score":0.8050252199172974},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7636418342590332},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.746954619884491},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.7275195121765137},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.7140185236930847},{"id":"https://openalex.org/keywords/kinetic-energy","display_name":"Kinetic energy","score":0.597944974899292},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.575438916683197},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.564049243927002},{"id":"https://openalex.org/keywords/mechanical-energy","display_name":"Mechanical energy","score":0.5475094318389893},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5441911220550537},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48862606287002563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4655825197696686},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.43809324502944946},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.43294960260391235},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.33694377541542053},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33206796646118164},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30702900886535645},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30051320791244507},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11537793278694153},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11204290390014648}],"concepts":[{"id":"https://openalex.org/C99692599","wikidata":"https://www.wikidata.org/wiki/Q596577","display_name":"Dissipative system","level":2,"score":0.8617757558822632},{"id":"https://openalex.org/C72319582","wikidata":"https://www.wikidata.org/wiki/Q584304","display_name":"Degenerate energy levels","level":2,"score":0.8050252199172974},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7636418342590332},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.746954619884491},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.7275195121765137},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.7140185236930847},{"id":"https://openalex.org/C135889238","wikidata":"https://www.wikidata.org/wiki/Q46276","display_name":"Kinetic energy","level":2,"score":0.597944974899292},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.575438916683197},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.564049243927002},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.5475094318389893},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5441911220550537},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48862606287002563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4655825197696686},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.43809324502944946},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.43294960260391235},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.33694377541542053},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33206796646118164},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30702900886535645},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30051320791244507},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11537793278694153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11204290390014648},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2007.4282758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4282758","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W194456869","https://openalex.org/W1515493836","https://openalex.org/W1522935148","https://openalex.org/W1980330256","https://openalex.org/W1984598383","https://openalex.org/W2102263452","https://openalex.org/W2146046612","https://openalex.org/W3140595534"],"related_works":["https://openalex.org/W2739518152","https://openalex.org/W4253072361","https://openalex.org/W59597464","https://openalex.org/W2883824284","https://openalex.org/W4206766790","https://openalex.org/W4242878066","https://openalex.org/W362416561","https://openalex.org/W4256133186","https://openalex.org/W2146046612","https://openalex.org/W2114725842"],"abstract_inverted_index":{"This":[0],"paper":[1],"interprets":[2],"tracking":[3,68,88],"control":[4,73,89],"as":[5],"shaping":[6],"the":[7,10,13,17,30,43,77,97,100,103,118,132,135],"energy":[8],"of":[9,22,32,45,56,99,126,134],"error":[11,78],"between":[12],"system":[14],"trajectory":[15],"and":[16,37,67,121],"desired":[18,101,136],"trajectory.":[19,137],"A":[20],"notion":[21],"\"degenerate":[23],"mechanical":[24,57,65,83],"systems\"":[25],"is":[26,69],"developed":[27],"by":[28,71],"extending":[29],"ideas":[31],"kinetic":[33,50],"energy,":[34,36],"potential":[35],"dissipative":[38],"forces":[39],"to":[40,62,75,79],"allow":[41],"for":[42,87],"existence":[44],"nonzero":[46],"velocities":[47],"with":[48],"zero":[49],"energy.":[51],"Some":[52],"familiar":[53],"stability":[54],"results":[55],"systems":[58],"can":[59,113],"be":[60,80],"extended":[61],"these":[63],"degenerate":[64,82],"systems,":[66],"accomplished":[70],"choosing":[72],"inputs":[74],"force":[76],"a":[81,128],"system.":[84],"While":[85],"techniques":[86],"like":[90],"PD+":[91],"often":[92],"require":[93],"known":[94],"bounds":[95,130],"on":[96,105,117,131],"velocity":[98,133],"trajectory,":[102],"emphasis":[104],"geometric":[106],"structures":[107],"here":[108],"reveals":[109],"how":[110],"certain":[111],"designs":[112],"result":[114],"in":[115],"guarantees":[116],"convergence":[119],"rate":[120],"disturbance":[122],"rejection":[123],"properties":[124],"independent":[125],"any":[127],"priori":[129]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
