{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,30]],"date-time":"2025-05-30T06:24:08Z","timestamp":1748586248932,"version":"3.37.3"},"reference-count":19,"publisher":"Oxford University Press (OUP)","issue":"2","license":[{"start":{"date-parts":[[2023,5,10]],"date-time":"2023-05-10T00:00:00Z","timestamp":1683676800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/academic.oup.com\/pages\/standard-publication-reuse-rights"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62203215","61991404","62003079"],"award-info":[{"award-number":["62203215","61991404","62003079"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Science and Technology Major Project 2020 of Liaoning Province","award":["2020JH1\/10100008"],"award-info":[{"award-number":["2020JH1\/10100008"]}]},{"DOI":"10.13039\/501100013314","name":"111 Project","doi-asserted-by":"publisher","award":["B08015"],"award-info":[{"award-number":["B08015"]}],"id":[{"id":"10.13039\/501100013314","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFB3305002"],"award-info":[{"award-number":["2022YFB3305002"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,6,16]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>This paper concerns the stabilization problem for an underactuated robot called the Pendubot. Relying on a computational algorithm which is based on various results of the \u2018polynomial matrix approach\u2019, we propose an output-feedback-based internally stabilizing controller to stabilize the Pendubot at the unstable vertical upright position. The algorithm utilizes results for the solution of polynomial matrix Diophantine equations required for the computation and parameterization of proper \u2018denominator assigning\u2019 and internally stabilizing controllers for linear time invariant multivariable systems and reduces the problem to that of the solution of a set of numerical linear equations. The controller presented uses only the measured output which consists of the angles of the two links and does not require knowledge of the angular velocities which are usually not directly measurable. Comparative simulations are carried out to verify the good performance of the proposed controller. Finally, experimental results are provided to demonstrate the validity and feasibility of the proposed method.<\/jats:p>","DOI":"10.1093\/imamci\/dnad011","type":"journal-article","created":{"date-parts":[[2023,5,11]],"date-time":"2023-05-11T07:34:28Z","timestamp":1683790468000},"page":"332-352","source":"Crossref","is-referenced-by-count":2,"title":["Stabilization of the Pendubot: a polynomial matrix approach"],"prefix":"10.1093","volume":"40","author":[{"given":"Cui","family":"Wei","sequence":"first","affiliation":[{"name":"Institute of Intelligent Manufacturing , Nanjing Tech University, Nanjing 210009 , China"}]},{"given":"Antonis","family":"Vardulakis","sequence":"additional","affiliation":[{"name":"Department of Mathematics , Aristotle University of Thessaloniki, Thessaloniki 54006 , Greece"}]},{"given":"Tianyou","family":"Chai","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Synthetical Automation for Process Industries , Northeastern University, Shenyang 110819 , China"}]}],"member":"286","published-online":{"date-parts":[[2023,5,10]]},"reference":[{"key":"2023061613182909400_ref1","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1093\/imamci\/dni002","article-title":"On the computation and parameterization of proper denominator assigning compensators for strictly proper plants","volume":"22","author":"Antoniou","year":"2005","journal-title":"IMA J. 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Electron."},{"key":"2023061613182909400_ref17","doi-asserted-by":"crossref","first-page":"2176","DOI":"10.1016\/j.automatica.2013.03.027","article-title":"Reduced-order stable controllers for two-link underactuated planar robots","volume":"49","author":"Xin","year":"2013","journal-title":"Automatica J. IFAC"},{"volume-title":"System Simulation Technology and Application Based on MATLAB\/Simulink","year":"2011","author":"Xue","key":"2023061613182909400_ref18"},{"key":"2023061613182909400_ref19","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1109\/3516.990890","article-title":"Hybrid control of the Pendubot","volume":"7","author":"Zhang","year":"2002","journal-title":"IEEE\/ASME Trans. Mechatron."}],"container-title":["IMA Journal of Mathematical Control and Information"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/academic.oup.com\/imamci\/article-pdf\/40\/2\/332\/50626655\/dnad011.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/academic.oup.com\/imamci\/article-pdf\/40\/2\/332\/50626655\/dnad011.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,6,16]],"date-time":"2023-06-16T13:19:00Z","timestamp":1686921540000},"score":1,"resource":{"primary":{"URL":"https:\/\/academic.oup.com\/imamci\/article\/40\/2\/332\/7159156"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,10]]},"references-count":19,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2023,5,10]]},"published-print":{"date-parts":[[2023,6,16]]}},"URL":"https:\/\/doi.org\/10.1093\/imamci\/dnad011","relation":{},"ISSN":["0265-0754","1471-6887"],"issn-type":[{"type":"print","value":"0265-0754"},{"type":"electronic","value":"1471-6887"}],"subject":[],"published-other":{"date-parts":[[2023,6]]},"published":{"date-parts":[[2023,5,10]]}}}