A mathematical model of a class of underactuated mechanical systems is analyzed and a nonlinear control scheme based on partial feedback linearization is presented. 摘要针对一类欠驱动机械系统，分析了其数学模型，提出了一种基于部分反馈线性化的非线性控制方案。
Simulation results indicate that this feedback linearizing control scheme based on inverse system theory can reach a high performance for induction motor control. 仿真结果表明这种基于逆系统方法的反馈线性化控制策略可实现感应电机的高性能控制。
