A mathematical model of a class of underactuated mechanical systems is analyzed and a nonlinear control scheme based on partial feedback linearization is presented. 摘要針對一類欠驅動機械系統，分析了其數學模型，提出了一種基于部分反饋線性化的非線性控制方案。
Simulation results indicate that this feedback linearizing control scheme based on inverse system theory can reach a high performance for induction motor control. 仿真結果表明這種基于逆系統方法的反饋線性化控制策略可實現感應電機的高性能控制。
