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中文摘要：
基于受控拉格朗日函数,对竖直面内两自由度Pendubot设计镇定控制器.由于该系统的驱动变量是原始动能的循环变量,当受控动能继续保持同一个循环变量时,匹配条件中的动能方程退化为一个常微分方程.由此得到的非线性光滑反馈控制律,可实现一类两自由度Pendubot局部渐近镇定.
英文摘要：
On the basis of the controlled Lagrangians,a stabilization controller is designed for the two degrees of freedom（2-DOF） Pendubot in the vertical plane.Because the actuated variable of the system is a cyclic variable of its original kinetic energy,the kinetic energy equation in the matching condition degenerates into an ordinary differential equation with the controlled kinetic energy maintaining the identical cyclic variable.Taking this degeneration,a nonlinear smooth state feedback control law is obtained,which can achieve local asymptotic stabilization for a class of the 2-DOF Pendubots.
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