@article{Angeli:1999:10.1016/S0005-1098(99)00037-0,
author = {Angeli, D},
doi = {10.1016/S0005-1098(99)00037-0},
journal = {Automatica},
pages = {1285--1290},
title = {Input-to-state stability of PD-controlled robotic systems},
url = {http://dx.doi.org/10.1016/S0005-1098(99)00037-0},
volume = {35},
year = {1999}
}

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TY  - JOUR
AB  - The external stability for nonlinear systems is investigated. An important issue in systems theory is to provide suitable estimates of these state variables in terms of past inputs. A sufficient condition for input-to-state stability is presented for systems admitting a Lyapunov function with negative semi-definite derivative. An application to proportional-derivative-controlled robotic manipulators is described.
AU  - Angeli,D
DO  - 10.1016/S0005-1098(99)00037-0
EP  - 1290
PY  - 1999///
SN  - 0005-1098
SP  - 1285
TI  - Input-to-state stability of PD-controlled robotic systems
T2  - Automatica
UR  - http://dx.doi.org/10.1016/S0005-1098(99)00037-0
VL  - 35
ER  - 

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