{"id":"https://openalex.org/W2734422654","doi":"https://doi.org/10.23919/acc.2017.7963234","title":"The link between IDA-PBC and the direct Lyapunov approach for underactuated mechanical systems","display_name":"The link between IDA-PBC and the direct Lyapunov approach for underactuated mechanical systems","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2734422654","doi":"https://doi.org/10.23919/acc.2017.7963234","mag":"2734422654"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2017.7963234","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 American Control Conference (ACC)","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/A5110272170","display_name":"Warren N. White","orcid":null},"institutions":[{"id":"https://openalex.org/I189590672","display_name":"Kansas State University","ror":"https://ror.org/05p1j8758","country_code":"US","type":"education","lineage":["https://openalex.org/I189590672"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Warren N. White","raw_affiliation_strings":["Mechanical and Nuclear Engineering Department, Kansas State University, Manhattan, KS, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Nuclear Engineering Department, Kansas State University, Manhattan, KS, USA","institution_ids":["https://openalex.org/I189590672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085222418","display_name":"Constance Lare","orcid":null},"institutions":[{"id":"https://openalex.org/I189590672","display_name":"Kansas State University","ror":"https://ror.org/05p1j8758","country_code":"US","type":"education","lineage":["https://openalex.org/I189590672"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Constance Lare","raw_affiliation_strings":["Mechanical and Nuclear Engineering Department, Kansas State University, Manhattan, KS, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Nuclear Engineering Department, Kansas State University, Manhattan, KS, USA","institution_ids":["https://openalex.org/I189590672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2041,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5120757,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1929","last_page":"1934"},"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":1.0,"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":1.0,"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":0.9887999892234802,"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/T12763","display_name":"ATP Synthase and ATPases Research","score":0.9412999749183655,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7147155404090881},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6568599343299866},{"id":"https://openalex.org/keywords/annihilator","display_name":"Annihilator","score":0.6224703192710876},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.60504150390625},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5248993635177612},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.48454466462135315},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.47784778475761414},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4527570903301239},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.43095076084136963},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.42926138639450073},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37996238470077515},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3390176594257355},{"id":"https://openalex.org/keywords/algebra-over-a-field","display_name":"Algebra over a field","score":0.22061800956726074},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1890815794467926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1641213595867157},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16152355074882507},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1534123718738556},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.12830856442451477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08007606863975525}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7147155404090881},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6568599343299866},{"id":"https://openalex.org/C147073270","wikidata":"https://www.wikidata.org/wiki/Q567083","display_name":"Annihilator","level":3,"score":0.6224703192710876},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.60504150390625},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5248993635177612},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.48454466462135315},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.47784778475761414},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4527570903301239},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.43095076084136963},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.42926138639450073},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37996238470077515},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3390176594257355},{"id":"https://openalex.org/C136119220","wikidata":"https://www.wikidata.org/wiki/Q1000660","display_name":"Algebra over a field","level":2,"score":0.22061800956726074},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1890815794467926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1641213595867157},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16152355074882507},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1534123718738556},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.12830856442451477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08007606863975525},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2017.7963234","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2017.7963234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1977808185","https://openalex.org/W1981174120","https://openalex.org/W1984334438","https://openalex.org/W2045666702","https://openalex.org/W2082337197","https://openalex.org/W2100585221","https://openalex.org/W2109640889","https://openalex.org/W2125968092","https://openalex.org/W2127198539","https://openalex.org/W2141666025","https://openalex.org/W2159699010","https://openalex.org/W2160806978","https://openalex.org/W2310008819","https://openalex.org/W2952218911","https://openalex.org/W3038698521","https://openalex.org/W4211007335","https://openalex.org/W6780363903"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W2376671326","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2540077422","https://openalex.org/W2029114279"],"abstract_inverted_index":{"Interconnection":[0],"and":[1,59,69,139,150],"Damping":[2],"Assignment":[3],"-":[4],"Passivity":[5],"Based":[6],"Control":[7],"(IDA-PBC)":[8],"provides":[9],"a":[10,101,114],"means":[11],"for":[12,17,54],"designing":[13],"stabilizing":[14],"control":[15,102],"laws":[16],"underactuated,":[18],"nonlinear":[19],"mechanical":[20],"systems.":[21,39,152],"It":[22,110],"has":[23,95],"been":[24],"shown":[25,112],"to":[26,88],"encompass":[27],"several":[28],"separately":[29],"published":[30],"methodologies":[31],"that":[32,104,121,132,140,143],"also":[33,130],"treat":[34],"the":[35,44,48,51,56,65,73,77,82,90,96,108,117,122,133,145,148,156,160],"same":[36],"class":[37],"of":[38,50,72,99,116,147],"A":[40],"key":[41],"step":[42],"in":[43,107,159],"design":[45],"process":[46,129],"is":[47,85,105,111,137],"use":[49],"annihilator":[52,83],"operator":[53,84],"finding":[55],"governing":[57],"differential":[58,61],"partial":[60],"equations":[62],"which":[63,94],"determine":[64],"equivalent":[66],"mass":[67,92],"matrix":[68,93],"potential":[70],"energy":[71],"stabilized":[74,151],"system.":[75],"In":[76],"Direct":[78],"Lyapunov":[79],"Approach":[80],"(DLA),":[81],"not":[86],"used":[87],"develop":[89],"new":[91],"beneficial":[97],"result":[98],"producing":[100],"law":[103],"linear":[106],"velocities.":[109],"through":[113],"projection":[115],"IDA-PBC":[118],"fundamental":[119],"relation":[120],"DLA":[123,134],"method":[124],"can":[125],"be":[126],"developed.":[127],"This":[128],"demonstrates":[131],"produced":[135],"system":[136],"Lagrangian":[138],"relations":[141],"exist":[142],"relate":[144],"matrices":[146],"original":[149],"An":[153],"example":[154],"supports":[155],"results":[157],"derived":[158],"text.":[161]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}