Pulsed control of nonlinear mechanical systems with rate constrained velocities

A pulsed feedback control strategy is proposed for the robust stabilization of a class of multivariable mechanical systems in which rate constrained angular, or linear, velocity variables are regarded as control inputs. The trapezoidal character of the pulsed-width regulation policy complies with the physical limitation of having corresponding acceleration variables, i.e., applied torques, or forces, of bounded magnitude. The proposed approach is used in the approximate feedback control regulation of a perturbed multivariable differentially flat system