{"id":"https://openalex.org/W2067520590","doi":"https://doi.org/10.1109/cdc.2011.6160656","title":"Local linear dynamics assignment in IDA-PBC for underactuated mechanical systems","display_name":"Local linear dynamics assignment in IDA-PBC for underactuated mechanical systems","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2067520590","doi":"https://doi.org/10.1109/cdc.2011.6160656","mag":"2067520590"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160656","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1144742","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024022683","display_name":"Paul Kotyczka","orcid":"https://orcid.org/0000-0002-6669-6368"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Paul Kotyczka","raw_affiliation_strings":["Institute of Automatic Control, Technical University of M\u00fcnchen, Garching, Germany","Institute of Automatic Control, TU M\u00fcnchen, 85748 Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, Technical University of M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control, TU M\u00fcnchen, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5024022683"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.9151,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.93584796,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6534","last_page":"6539"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T13286","display_name":"Modeling and Simulation Systems","score":0.9661999940872192,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9190999865531921,"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/underactuation","display_name":"Underactuation","score":0.8103209733963013},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6522963047027588},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6519408822059631},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5847998857498169},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.4982612133026123},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4966803193092346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4908169209957123},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.431792676448822},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37545955181121826},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32003527879714966},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.26357588171958923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16243243217468262},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13208919763565063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1036098301410675}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8103209733963013},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6522963047027588},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6519408822059631},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5847998857498169},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.4982612133026123},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4966803193092346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4908169209957123},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.431792676448822},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37545955181121826},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32003527879714966},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.26357588171958923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16243243217468262},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13208919763565063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1036098301410675},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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":2,"locations":[{"id":"doi:10.1109/cdc.2011.6160656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160656","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1144742","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1144742","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1144742","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1144742","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"score":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1511209738","https://openalex.org/W1559327333","https://openalex.org/W1586037964","https://openalex.org/W1975766945","https://openalex.org/W2004741125","https://openalex.org/W2032369830","https://openalex.org/W2032630233","https://openalex.org/W2048253740","https://openalex.org/W2081727243","https://openalex.org/W2082628778","https://openalex.org/W2102263452","https://openalex.org/W2149224990","https://openalex.org/W3149268725","https://openalex.org/W6635072114"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W565008099","https://openalex.org/W1495559799","https://openalex.org/W3216377992","https://openalex.org/W3140581650","https://openalex.org/W2363498782","https://openalex.org/W1973549120","https://openalex.org/W4379805978","https://openalex.org/W70498098"],"abstract_inverted_index":{"The":[0],"problem":[1],"of":[2,6,17,27,46,50,60,69,76,96,118],"finding":[3],"a":[4,15,34,40,74],"set":[5,75],"design":[7,82,109],"parameters":[8,83],"in":[9,33],"the":[10,28,44,47,51,66,70,80,87,93,97,108,116,119],"well-known":[11],"IDA-PBC":[12,81],"approach":[13],"for":[14,79],"class":[16],"nonlinear":[18],"underactuated":[19],"mechanical":[20,106],"systems":[21],"to":[22,89],"realize":[23],"desired":[24,61],"time":[25],"behavior":[26],"closed":[29,71],"loop":[30,72],"Port-Hamiltonian":[31],"system":[32,107],"transparent":[35],"way":[36],"is":[37,56,84],"considered.":[38],"Using":[39],"local":[41,62],"coordinate":[42],"transformation,":[43],"effect":[45],"homogeneous":[48],"solution":[49],"potential":[52,98],"energy":[53,99],"matching":[54],"PDE":[55],"isolated.":[57],"By":[58],"comparison":[59],"linear":[63,77],"dynamics":[64,73,92],"with":[65],"parametrized":[67],"linearization":[68],"equations":[78],"derived.":[85],"Besides":[86],"possibility":[88],"assign":[90],"predefined":[91],"definiteness":[94],"check":[95],"can":[100],"be":[101],"omitted.":[102],"With":[103],"an":[104],"Acrobot-type":[105],"steps":[110],"are":[111],"illustrated":[112],"and":[113],"simulations":[114],"validate":[115],"performance":[117],"approach.":[120]},"counts_by_year":[{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
