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The control of underactuated mechanical systems has attracted growing attentio
n in recent years. In this thesis, we consider the problem of a two-link robot
which moves in the vertical plane by using a single actuator at the base. Two
control designs are proposed for such an underactuated mechanical system. One
design is PD control which needs the velocity and the position feedback, and
the other is position feedback control only. The position feedback control rep
laces the need for velocity measurement hardware by a high-pass filter. It is
shown that we don't need the damping propogation assumption.
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