{'fraction_non_alphanumeric': 0.023054755043227664, 'fraction_numerical': 0.0, 'mean_word_length': 5.318181818181818, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Constrained stabilization of a cart on an asymmetric-beam system through IDA-PBC

The problem of asymptotic stabilization of the cart on an asymmetric-beam system (CaB) is addressed and solved. This system captures the essential features of state-constrained stabilization while being underactuated. The control problem is solved through the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) methodology. It is noticeable that considering the asymmetry of the beam makes the system quite challenging to be solved since, the solution with a constant inertia matrix reported so far is no longer valid. The performance of the control law is demonstrated through simulations.