Matching and digital control implementation for underactuated systems
  This note describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in this family. 
F. Andreev, D. Auckly, L. Kapitanski, A. G. Kelkar, W. N. White