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

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

Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. An a