TY - JFULL AU - Guangyu Liu PY - 2008/1/ TI - Remarks on Energy Based Control of a Nonlinear, Underactuated, MIMO and Unstable Benchmark T2 - International Journal of Electrical and Computer Engineering SP - 2866 EP - 2874 VL - 2 SN - 1307-6892 UR - https://publications.waset.org/pdf/12678 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 24, 2008 N2 - In the last decade, energy based control theory has undergone a significant breakthrough in dealing with underactated mechanical systems with two successful and similar tools, controlled Lagrangians and controlled Hamiltanians (IDA-PBC). However, because of the complexity of these tools, successful case studies are lacking, in particular, MIMO cases. The seminal theoretical paper of controlled Lagrangians proposed by Bloch and his colleagues presented a benchmark example–a 4 d.o.f underactuated pendulum on a cart but a detailed and completed design is neglected. To compensate this ignorance, the note revisit their design idea by addressing explicit control functions for a similar device motivated by a vector thrust body hovering in the air. To the best of our knowledge, this system is the first MIMO, underactuated example that is stabilized by using energy based tools at the courtesy of the original design idea. Some observations are given based on computer simulation. ER -