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Brief Paper Matching, linear systems, and the ball and beam  
A recent approach to the control of underactuated systems is to look for control laws which will induce some speci3ed structure on the closed loop system. In this paper, we describe one matching condi......
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Matching control laws for a ball and beam system  
This note describes a method for generating an infinite-dimensional family of nonlinear control laws for underactuated systems. For a ball and beam system, the entire family is found explicitly.......
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