https://nova.newcastle.edu.au/vital/access/ /manager/Index en-au 5 https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:21057 Wed 30 Sep 2015 14:41:01 AEST ]]> https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:17314 Sat 24 Mar 2018 08:01:51 AEDT ]]> https://nova.newcastle.edu.au/vital/access/ /manager/Repository/uon:21721 vis à vis external disturbances, of energy shaping controllers for mechanical systems was addressed by the authors in a previous paper. It was shown that—if the inertia matrix is constant—constant disturbances (both, matched and unmatched) can be rejected simply adding a suitable integral action. For systems with non–constant inertia matrix and non–constant disturbances the controller, that adds nonlinear damping and gyroscopic forces terms, is quite complicated. The purpose of this paper is to show that, including a partial change of coordinates, the controller can be significantly simplified, achieving the same robustness property of input–to–state stability with respect to matched disturbances of the previous controller.]]> Sat 24 Mar 2018 07:52:44 AEDT ]]>