López-Martínez, M.Acosta Rodríguez, José Ángel2025-09-012025-09-012007-10López-Martínez, M. y Acosta Rodríguez, J.Á. (2007). Linealizacion por realimentacion constructiva de sistemas mecanicos con grado de subactuacion 1 inestables con friccion. RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 4 (4), 70-79.https://doi.org/10.1016/s1697-7912(07)70246-7.1697-79121697-7920https://hdl.handle.net/11441/176519In the last years, several methods to control nonlinear underactuated mechanical systems have been developed. In fact, these nonlinear methods have solved interesting control problems. Nevertheless, the solutions of these methods relies on solving a set of partial differential equations, which is not always possible. This article presents a constructive methodology to control a class of unstable underactuated mechanical systems with underactuation degree one. The design is based on classical feedback linearization and Lyapunov redesign. The methodology is based on proposing a dummy output that allows its redesign in a constructive way to solve the problem, giving rise an explicit and compact control law that allows to take into account the friction even in the underactuated coordinates.application/pdf10 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Feedback linearizationLyapunov redesignNonlinear systemsUnderactuated mechanical systemsinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1016/s1697-7912(07)70246-7