Strong stabilization of two-link underactuated planar robots

Strong stabilization refers to designing stable feedback controllers that stabilize a given plant. The second-order stable stabilizing controller design of two-link underactuated planar robots around their UEP (Upright Equilibrium Point) is concerned in this paper. The proposed method can obtain explicit transfer function of the controller by solving a set of inequalities, which is relatively more concise and the final set of stable controllers is larger than the existing results. Simulation results of both the Acrobot and the Pendubot are presented to verify the effectiveness and robustness of proposed stabilizing controllers.