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An output feedback controller for the 2DTORA system is proposed, which can prevent the unwinding behaviour. In addition, the velocity signal unavailability and actuator saturation are taken into account, simultaneously. In particular, the dynamics of the 2DTORA system are given first. On the basis of the passivity and control objectives of the 2DTORA system, an elaborate Lyapunov function is constructed. Then, based on the introduced Lyapunov function, a novel output feedback control method is proposed straightforwardly for the 2DTORA system. Lyapunov theory and LaSalle\u2019s invariance principle are utilized to analyse the stability of the closed-loop system and the convergence of the states. Finally, simulation results are provided to illustrate the excellent control performance of the proposed controller in comparison with the existing method.<\/jats:p>","DOI":"10.1177\/0142331220933475","type":"journal-article","created":{"date-parts":[[2020,7,3]],"date-time":"2020-07-03T02:06:52Z","timestamp":1593742012000},"page":"2822-2829","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":11,"title":["Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs"],"prefix":"10.1177","volume":"42","author":[{"given":"Kexin","family":"Xu","sequence":"first","affiliation":[{"name":"Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0623-6180","authenticated-orcid":false,"given":"Xianqing","family":"Wu","sequence":"additional","affiliation":[{"name":"Faculty 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