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Synthesis of non-linear controller to energy efficiency for damped-elastic-jointed inverted pendulum

In the paper we propose a synthetic way of the nonlinear controller for the damped-elastic-jointed inverted pendulum. The controller is designed based on the synergistic approach, the global variables are built on the asymptotically stable manifolds and the fast acting objective function is energy efficient. The effectiveness of the export method is proven through simulation results and compared with other methods.