@article{Maoqing LI:417, author = {Maoqing LI, }, title = {Controller design for 2-DOF underactuated mechanical systems based on controlled Lagrangians and application to Acrobot control}, publisher = {Front. Electr. Electron. Eng.}, year = {2009}, journal = {Frontiers of Electrical and Electronic Engineering}, volume = {4}, number = {4}, eid = {417}, numpages = {22}, pages = {417}, keywords = {underactuated mechanical systems; controlled Lagrangians (CL) method; gyroscopic forces; matching condition; stabilization; Acrobot }, url = {https://journal.hep.com.cn/fee/EN/abstract/article_9640.shtml}, doi = {10.1007/s11460-009-0063-5} }