Strong stablizationof the non-linear Pendubot system

This paper concerns with the strong stabilization for a typical example of MIMO under-actuated robots called the Pendubot, which is a two-link under-actuated planar robot with a single actuator at the First joint. First, a study of the existing of blocking zeros is presented to check for strong stabilization condition. Then the paper presents a design method for observer-based dynamic strongly stabilizing controller for the upright equilibrium point of the Pendubot. Simulation results are presented to validate the theoretical results.