Output Feedback Nonlinear <svg style="vertical-align:-4.50008pt;width:34.849998px;" id="M1" height="20.362499" version="1.1" viewBox="0 0 34.849998 20.362499" width="34.849998"  xmlns="http://www.w3.org/2000/svg">
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				<tspan style="font-size: 12.55px; " x="0" y="0">∞</tspan>
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</svg>-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System

<table>Time evolution of the determinants of the principal minors of the matrix <svg height="14.1875" id="M212" style="vertical-align:-0.33858pt" version="1.1" viewbox="0 0 59.037498 14.1875" width="59.037498" xmlns="http://www.w3.org/2000/svg">
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Journal of Robotics

fig6

Figure 6

Figure 6: Output Feedback Nonlinear <svg style="vertical-align:-4.50008pt;width:34.849998px;" id="M1" height="20.362499" version="1.1" viewBox="0 0 34.849998 20.362499" width="34.849998"  xmlns="http://www.w3.org/2000/svg">
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</svg>-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System 

Figure 6 | Output Feedback Nonlinear 
	
		
			
				𝐻
			

			
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-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System 

Journal of Robotics

Output Feedback Nonlinear 𝐻 ∞ -Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System

Figure 6

Output Feedback Nonlinear -Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System