Linear control of Euler-Lagrange systems

Jose Alvarez-Ramirez, Ilse Cervantes

Research output: Contribution to journalArticle


In this Letter, we study linear control of Euler-Lagrange (EL) systems. We prove that there exists a linear proportional-integral-derivative control such that any state of the EL system can be stabilized for any compact set of initial conditions. Basically, we show that integral control is necessary to attain the control objective in the face of model uncertainties and nonlinearities. We discuss some implications of our results on the control of physical systems, e.g., control of human and animal motions. © 2000 Elsevier Science B.V.
Original languageAmerican English
Pages (from-to)77-87
Number of pages68
JournalPhysics Letters, Section A: General, Atomic and Solid State Physics
StatePublished - 18 Dec 2000


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