This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., un

This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter ide

This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter m

In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The st

Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-v