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Inherently Nonlinear Control of Multi-Body Mechanical Systems

Professor N. Harris
McClamroch

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**Department of Aerospace Engineering**

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**University of Michigan **

This presentation will focus on inherently nonlinear control problems. These problems are stated in terms of control systems that are not linearly controllable but are controllable in a nonlinear sense. It is shown that such nonlinear control problems arise in a number of applications involving multi-body mechanical systems. A high level summary of relevant nonlinear control theory is provided. Examples of multi-body mechanical systems are used to illustrate these inherently nonlinear control problems.

**3:30 - 5:00 p.m.**

**1500 EECS**