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">
	<g transform="matrix(1.25,0,0,-1.25,0,20.3625)">
		<g transform="translate(72,-55.71)">
			<text transform="matrix(1,0,0,-1,-71.95,60.24)">
				<tspan style="font-size: 17.93px; " x="0" y="0">𝐻</tspan>
			</text>

			<text transform="matrix(1,0,0,-1,-56.29,55.76)">
				<tspan style="font-size: 12.55px; " x="0" y="0">∞</tspan>
			</text>

		</g>
	</g>
</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="M217" style="vertical-align:-0.33858pt" version="1.1" viewbox="0 0 61.8125 14.1875" width="61.8125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.1875)">
<g transform="translate(72,-60.65)">
<text transform="matrix(1,0,0,-1,-71.95,61.03)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑍</tspan>
<tspan style="font-size: 12.50px; " x="13.115647" y="0">∈</tspan>
<tspan style="font-size: 12.50px; " x="25.156036" y="0">ℝ</tspan>
</text>
<text transform="matrix(1,0,0,-1,-37.45,66.03)">
<tspan style="font-size: 8.75px; " x="0" y="0">4</tspan>
<tspan style="font-size: 8.75px; " x="4.3759999" y="0">×</tspan>
<tspan style="font-size: 8.75px; " x="9.9772797" y="0">4</tspan>
</text>
</g>
</g>
</svg> <svg height="14.325" id="M218" style="vertical-align:-3.20526pt" version="1.1" viewbox="0 0 26.049999 14.325" width="26.049999" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.325)">
<g transform="translate(72,-60.54)">
<text transform="matrix(1,0,0,-1,-71.95,63.79)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑍</tspan>
</text>
<text transform="matrix(1,0,0,-1,-62.3,60.66)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑚</tspan>
<tspan style="font-size: 8.75px; " x="6.2139201" y="0">1</tspan>
</text>
</g>
</g>
</svg>, <svg height="14.325" id="M219" style="vertical-align:-3.20526pt" version="1.1" viewbox="0 0 26.049999 14.325" width="26.049999" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.325)">
<g transform="translate(72,-60.54)">
<text transform="matrix(1,0,0,-1,-71.95,63.79)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑍</tspan>
</text>
<text transform="matrix(1,0,0,-1,-62.3,60.66)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑚</tspan>
<tspan style="font-size: 8.75px; " x="6.2139201" y="0">2</tspan>
</text>
</g>
</g>
</svg>, <svg height="14.3875" id="M220" style="vertical-align:-3.25793pt" version="1.1" viewbox="0 0 26.049999 14.3875" width="26.049999" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.3875)">
<g transform="translate(72,-60.49)">
<text transform="matrix(1,0,0,-1,-71.95,63.79)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑍</tspan>
</text>
<text transform="matrix(1,0,0,-1,-62.3,60.66)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑚</tspan>
<tspan style="font-size: 8.75px; " x="6.2139201" y="0">3</tspan>
</text>
</g>
</g>
</svg>, <svg height="14.325" id="M221" style="vertical-align:-3.20526pt" version="1.1" viewbox="0 0 26.049999 14.325" width="26.049999" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.325)">
<g transform="translate(72,-60.54)">
<text transform="matrix(1,0,0,-1,-71.95,63.79)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑍</tspan>
</text>
<text transform="matrix(1,0,0,-1,-62.3,60.66)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑚</tspan>
<tspan style="font-size: 8.75px; " x="6.2139201" y="0">4</tspan>
</text>
</g>
</g>
</svg>.</table>

Journal of Robotics

fig7

Figure 7

Figure 7: 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">
	<g transform="matrix(1.25,0,0,-1.25,0,20.3625)">
		<g transform="translate(72,-55.71)">
			<text transform="matrix(1,0,0,-1,-71.95,60.24)">
				<tspan style="font-size: 17.93px; " x="0" y="0">𝐻</tspan>
			</text>

			<text transform="matrix(1,0,0,-1,-56.29,55.76)">
				<tspan style="font-size: 12.55px; " x="0" y="0">∞</tspan>
			</text>

		</g>
	</g>
</svg>-Tracking Control of a Nonminimum-Phase 2-DOF Underactuated Mechanical System 

Figure 7 | Output Feedback Nonlinear 
	
		
			
				𝐻
			

			
				∞
			

		
	
-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 7

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