Vivas Venegas, CarlosRodríguez Rubio, Francisco2021-02-172021-02-172003Vivas Venegas, C. y Rodríguez Rubio, F. (2003). Improving the Performance of Orbitally-Stabilizing Controls for the Furuta Pendulum. En IFAC WORKSHOP (81-86), Sevilla (España): Elsevier.https://hdl.handle.net/11441/105080IFAC WORKSHOP (2.2003.SEVILLA)This paper presents an approach to compute suboptimal nonlinear H∞ controls for orbital stabilization of a certain class of underactuated systems. The control objective is to locally asymptotically stabilize the system around a predefined target orbit with a certain degree of L2-Gain disturbance attenuation. Additionally, to solve the Hamilton-Jacobi-Bellman equation (HJBE) arising in the nonlinear H∞ framework, an approximate solution is provided, based on a Galerkin-like approximation scheme. In particular, the methodology is applied to the well-known Furuta Pendulum system and simulation results are shownapplication/pdf6 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Orbital stabilizationNon-linear H∞ ControlUnderactuated Systemsinfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1016/S1474-6670(17)38871-7