{"id":"https://openalex.org/W2077647493","doi":"https://doi.org/10.1109/cca.2010.5611126","title":"Nonlinear control design for a class of underactuated systems","display_name":"Nonlinear control design for a class of underactuated systems","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W2077647493","doi":"https://doi.org/10.1109/cca.2010.5611126","mag":"2077647493"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2010.5611126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611126","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","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/A5027957297","display_name":"Wan Man","orcid":null},"institutions":[{"id":"https://openalex.org/I193365169","display_name":"National Chi Nan University","ror":"https://ror.org/03ha6v181","country_code":"TW","type":"education","lineage":["https://openalex.org/I193365169"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Wan Man","raw_affiliation_strings":["Department of Electrical Engineering, National Chi Nan University, Nantou, Taiwan","Department of Electrical Engineering National Chi Nan University Puli, Nantou, Taiwan 545, R.O.C"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chi Nan University, Nantou, Taiwan","institution_ids":["https://openalex.org/I193365169"]},{"raw_affiliation_string":"Department of Electrical Engineering National Chi Nan University Puli, Nantou, Taiwan 545, R.O.C","institution_ids":["https://openalex.org/I193365169"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111766464","display_name":"Jung-Shan Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I193365169","display_name":"National Chi Nan University","ror":"https://ror.org/03ha6v181","country_code":"TW","type":"education","lineage":["https://openalex.org/I193365169"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jung-Shan Lin","raw_affiliation_strings":["Department of Electrical Engineering, National Chi Nan University, Nantou, Taiwan","Faculty of the Department of Electrical Engineering, National Chi Nan University, Puli, Nantou, Taiwan 545, R.O.C"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Chi Nan University, Nantou, Taiwan","institution_ids":["https://openalex.org/I193365169"]},{"raw_affiliation_string":"Faculty of the Department of Electrical Engineering, National Chi Nan University, Puli, Nantou, Taiwan 545, R.O.C","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027957297"],"corresponding_institution_ids":["https://openalex.org/I193365169"],"apc_list":null,"apc_paid":null,"fwci":2.1678,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.89333492,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1439","last_page":"1444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9986000061035156,"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/T12158","display_name":"Guidance and Control Systems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/backstepping","display_name":"Backstepping","score":0.9025495648384094},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8551393747329712},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8369962573051453},{"id":"https://openalex.org/keywords/furuta-pendulum","display_name":"Furuta pendulum","score":0.8276437520980835},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7620596885681152},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.6515597105026245},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.622955858707428},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.6225854754447937},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5625994205474854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5267918705940247},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5013048648834229},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47626993060112},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46335533261299133},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.4607279300689697},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4141746461391449},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28933173418045044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24260637164115906},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19818127155303955},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.13253602385520935},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1089901328086853}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9025495648384094},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8551393747329712},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8369962573051453},{"id":"https://openalex.org/C191601290","wikidata":"https://www.wikidata.org/wiki/Q5509824","display_name":"Furuta pendulum","level":5,"score":0.8276437520980835},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7620596885681152},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.6515597105026245},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.622955858707428},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.6225854754447937},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5625994205474854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5267918705940247},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5013048648834229},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47626993060112},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46335533261299133},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.4607279300689697},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4141746461391449},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28933173418045044},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24260637164115906},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19818127155303955},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.13253602385520935},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1089901328086853},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2010.5611126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611126","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1941843239","https://openalex.org/W2090167557","https://openalex.org/W2110905106","https://openalex.org/W2128011079","https://openalex.org/W2128592712","https://openalex.org/W2130365872","https://openalex.org/W2130745179","https://openalex.org/W2133979692","https://openalex.org/W2134392322","https://openalex.org/W2139810043","https://openalex.org/W2143272869","https://openalex.org/W2168474753","https://openalex.org/W6679467131","https://openalex.org/W6680572172","https://openalex.org/W6684549462"],"related_works":["https://openalex.org/W3216306759","https://openalex.org/W2072662323","https://openalex.org/W2655681456","https://openalex.org/W2612646280","https://openalex.org/W2912068311","https://openalex.org/W2047755970","https://openalex.org/W2333418779","https://openalex.org/W1977487254","https://openalex.org/W4306702009","https://openalex.org/W2518122872"],"abstract_inverted_index":{"The":[0,27],"major":[1],"purpose":[2],"of":[3,16,24,31,66,94,118,136],"this":[4],"paper":[5],"is":[6,36,76,88,112],"to":[7,39,49,53,60,99,114,131,141],"apply":[8],"backstepping":[9,86,138],"design":[10,123],"scheme":[11,139],"for":[12,91],"the":[13,32,41,44,51,64,69,84,95,100,103,108,116,122,133,145,149],"balancing":[14,92],"control":[15,29],"some":[17,126],"pendulum-like":[18,67,96,119,142],"plants,":[19],"which":[20],"are":[21,129],"a":[22],"class":[23],"underactuated":[25,34],"systems.":[26],"key":[28],"objective":[30],"inverted-pendulum-type":[33],"systems":[35,97,120],"not":[37],"only":[38],"maintain":[40],"pendulum":[42,147],"at":[43],"upright":[45],"position,":[46],"but":[47],"also":[48],"force":[50],"actuator":[52],"return":[54],"its":[55,73],"starting":[56],"point.":[57],"In":[58,106],"order":[59],"investigate":[61],"and":[62,78,148],"realize":[63],"properties":[65],"systems,":[68,143],"linearized":[70],"system":[71],"around":[72],"equilibrium":[74],"point":[75],"introduced":[77],"analyzed":[79],"in":[80,121],"advance.":[81],"And":[82],"then,":[83],"nonlinear":[85,137],"controller":[87],"successfully":[89],"developed":[90],"target":[93],"according":[98],"information":[101],"from":[102],"linear":[104],"design.":[105],"addition,":[107],"partial":[109],"feedback":[110],"linearization":[111],"applied":[113,140],"reduce":[115],"complexity":[117],"process.":[124],"Finally,":[125],"simulation":[127],"results":[128],"given":[130],"illustrate":[132],"excellent":[134],"performance":[135],"including":[144],"cart-pole":[146],"Furuta":[150],"pendulum.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}