Correction to the paper "A robust IDA-PBC approach for handling uncertainties in underactuated mechanical systems"
Alejandro Donaire, Jose Guadalupe Romero, Romeo Ortega
TL;DR
This note corrects previous claims about a robust IDA-PBC approach for underactuated mechanical systems, clarifying that earlier results and examples were incorrect.
Contribution
It provides a correction to prior work, clarifying the inaccuracies in the original claims and examples regarding the IDA-PBC method.
Findings
Previous results were incorrect
Examples in the original paper are invalid
Clarification of the correct approach
Abstract
In this note, it is shown that the results claimed in the paper [1]---as well as the examples presented there---are, unfortunately, incorrect.
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Taxonomy
TopicsControl and Stability of Dynamical Systems · Dynamics and Control of Mechanical Systems · Hydraulic and Pneumatic Systems