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In this paper the problem of stabilization of a class of underactuated systems by using backstepping is considered. To use the backstepping technique a suitable change of coordinates is constructed. Using backstep ping a simple control law is proposed; this control law ensures the origin to be asymptotically stable. The acrobot system is used to illustrate the application of the results obtained. 0-7803-6638-7/00%10.00 0 2000 IEEE

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