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Shubhobrata Rudra

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Open access Oct 2026

Offline-Certified Robust Block Backstepping for Perturbed Underactuated Mechanical Systems

This paper develops certifiable enhancements to a block-backstepping controller for n-DOF underactuated mechanical systems in the Spong normal form. Two offline-computable tests, each reducible to a finite algebraic computation over a prescribed compact domain, are established: a minimum singular-value margin certifyin...

Shubhobrata Rudra, M. Reyhanoglu · 0 citations

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