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Conference Proceedings
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3rd INTERNATIONAL CONFERENCE "PHYSICS AND CONTROL" (PhysCon 2007)
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Control of Mechanical Systems under Uncertainty by Small Forces
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We consider a mechanical system governed by Lagrange's equations under the assumption that its matrix of inertia is not known exactly and that the system is subjected to unknown bounded disturbances. We assume also that the disturbances are smaller than the control forces which in turn do not exceed the force of gravity. A bounded control is proposed which, under certain conditions, steers the system from an arbitrary initial state to the prescribed terminal state in finite time.