0431246 20240111140850.420140905235959.9 6 s. C cav_un_epca*0433591978-3-902823-62-52818-2823Cape TownIFAC2014 Underactuated mechanical systems Embedding High gain observer cav_un_auth*0252057 Anderle Milan Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument 246 kB GAP103/12/1794 GA ČR CZ cav_un_auth*0283207 Underactuated mechanical systems are systems with less actuators than degrees of freedom. Therefore, it is complicated to measure all states, i.e. angular positions or angular velocities, of the mechanical system. Alternative solution consists in an observer design such that unmeasurable states are estimated. For this purpose, a high gain observer for an Acrobot was introduced. By virtue of an Acrobot embedding into a 4-link model, the high gain observer was simply extended and applied to the 4-link model. The main aim of this paper consists in a coupling of a method of the Acrobot embedding into the 4-link model and the high gain observer design for the Acrobot. The coupling results in an observer for the 4-link model with the same structure as the already developed high gain observer for the Acrobot model. cav_un_auth*0305625 The 19th World Congress of the IFAC /2014/ Cape Town 24.08.2014-29.08.2014 ZA 2015 BC 2 PR RVO:67985556 http://hdl.handle.net/11104/0235862 cav_un_auth*0305697 ČVUT v Praze, FEL, Katedra řídicí techniky Czech Technical University in Prague, Faculty of Electrical Engineering, Department of Control Engineering CZ S 2014 textový dokument 246 kB cav_un_epca*0433591 Proceedings of the 19th IFAC World Congress, 2014 978-3-902823-62-5 2818 2823 Cape Town IFAC 2014