{"id":"https://openalex.org/W1495978235","doi":"https://doi.org/10.23919/ecc.2003.7085142","title":"A variable structure approach to energy shaping","display_name":"A variable structure approach to energy shaping","publication_year":2003,"publication_date":"2003-09-01","ids":{"openalex":"https://openalex.org/W1495978235","doi":"https://doi.org/10.23919/ecc.2003.7085142","mag":"1495978235"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2003.7085142","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2003.7085142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11380/466695","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049795832","display_name":"Alessandro Macchelli","orcid":"https://orcid.org/0000-0003-2258-9699"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Macchelli","raw_affiliation_strings":["DEIS, Universit\u00e0 di Bologna, Bologna, Italy","Universit\u00e0 di Bologna - DEIS, viale Risorgimento, 2 - 40136, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEIS, Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Universit\u00e0 di Bologna - DEIS, viale Risorgimento, 2 - 40136, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082136401","display_name":"Claudio Melchiorri","orcid":"https://orcid.org/0000-0002-8475-6782"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C. Melchiorri","raw_affiliation_strings":["DEIS, Universit\u00e0 di Bologna, Bologna, Italy","Universit\u00e0 di Bologna - DEIS, viale Risorgimento, 2 - 40136, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEIS, Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Universit\u00e0 di Bologna - DEIS, viale Risorgimento, 2 - 40136, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032100434","display_name":"Cristian Secchi","orcid":"https://orcid.org/0000-0002-2098-0099"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C. Secchi","raw_affiliation_strings":["Universit\u00e0 di Modena e Reggio Emilia, DISMI, Reggio Emilia, Italy","Universit\u00e0 di Modena e Reggio Emilia, DISMI, via Allegri 13 - 42100 Reggio Emilia (Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e0 di Modena e Reggio Emilia, DISMI, Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Universit\u00e0 di Modena e Reggio Emilia, DISMI, via Allegri 13 - 42100 Reggio Emilia (Italy)","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040701753","display_name":"Cesare Fantuzzi","orcid":"https://orcid.org/0000-0002-8885-7951"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C. Fantuzzi","raw_affiliation_strings":["Universit\u00e0 di Modena e Reggio Emilia, DISMI, Reggio Emilia, Italy","Universit\u00e0 di Modena e Reggio Emilia, DISMI, via Allegri 13 - 42100 Reggio Emilia (Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e0 di Modena e Reggio Emilia, DISMI, Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Universit\u00e0 di Modena e Reggio Emilia, DISMI, via Allegri 13 - 42100 Reggio Emilia (Italy)","institution_ids":["https://openalex.org/I122346577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.02633181,"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":"1309","last_page":"1314"},"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/T12763","display_name":"ATP Synthase and ATPases Research","score":0.9531999826431274,"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/formalism","display_name":"Formalism (music)","score":0.6407113671302795},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5609731078147888},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5541990399360657},{"id":"https://openalex.org/keywords/variable-structure-system","display_name":"Variable structure system","score":0.5503990054130554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5337480306625366},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.5337064862251282},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4742904305458069},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.43276697397232056},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2496907114982605},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.234537273645401},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23330286145210266},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19209450483322144},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17679300904273987},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.161636620759964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09060195088386536}],"concepts":[{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6407113671302795},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5609731078147888},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5541990399360657},{"id":"https://openalex.org/C177143634","wikidata":"https://www.wikidata.org/wiki/Q7915741","display_name":"Variable structure system","level":5,"score":0.5503990054130554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5337480306625366},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.5337064862251282},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4742904305458069},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.43276697397232056},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2496907114982605},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.234537273645401},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23330286145210266},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19209450483322144},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17679300904273987},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.161636620759964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09060195088386536},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","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":3,"locations":[{"id":"doi:10.23919/ecc.2003.7085142","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2003.7085142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/1040550","is_oa":false,"landing_page_url":"https://hdl.handle.net/11585/1040550","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.unimore.it:11380/466695","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/466695","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/466695","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/466695","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W194456869","https://openalex.org/W1506435686","https://openalex.org/W1547215941","https://openalex.org/W1575037797","https://openalex.org/W1800866505","https://openalex.org/W2048253740","https://openalex.org/W2142813547","https://openalex.org/W2144355672","https://openalex.org/W2280888395","https://openalex.org/W3160954918","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2355039512","https://openalex.org/W4248589565","https://openalex.org/W2369827809","https://openalex.org/W3008046258","https://openalex.org/W2506517543","https://openalex.org/W2389578274","https://openalex.org/W2139007942","https://openalex.org/W2027097010","https://openalex.org/W1987402673","https://openalex.org/W1502482744"],"abstract_inverted_index":{"The":[0],"port-Hamiltonian":[1],"formalism":[2],"is":[3,30],"a":[4,33,48,65],"very":[5],"powerful":[6],"tool":[7],"for":[8,16],"describing":[9],"dynamical":[10],"systems":[11,50],"and":[12,15,70],"their":[13],"interconnections":[14],"designing":[17],"control":[18,36],"laws":[19],"with":[20,57,64],"specified":[21],"energetic":[22],"properties.":[23],"In":[24],"this":[25,41],"paper,":[26],"in":[27,40,44,72],"particular,":[28],"it":[29],"shown":[31],"how":[32],"variable":[34,58],"structure":[35,59],"can":[37],"be":[38],"designed":[39],"general":[42],"framework":[43],"order":[45,73],"to":[46,74],"achieve":[47],"passive":[49],"with,":[51],"additionally,":[52],"the":[53,76],"robust":[54],"properties":[55],"obtainable":[56],"systems.":[60],"Simulation":[61],"results":[62],"obtained":[63],"2-dof":[66],"manipulator":[67],"are":[68],"reported":[69],"discussed":[71],"validate":[75],"proposed":[77],"approach.":[78]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}