@article {IOPORT.05169341,
    author       = {Sanchez, Edgar and Flores, Victor},
    title        = {Real-time underactuated robot swing-up via fuzzy PI+PD control.},
    year         = {2006},
    journal      = {Journal of Intelligent and Fuzzy Systems},
    volume       = {17},
    number       = {1},
    issn         = {1064-1246},
    pages        = {1-13},
    publisher    = {IOS Press, Amsterdam},
    abstract     = {Summary: A new fuzzy PI+PD controller, which includes a dynamic switching fuzzy system, is applied to swing-up an underactuated mechanism: the pendubot. This mechanism consists of a double pendulum actuated only at the first joint. This new controller and its real-time application to the pendubot constitute our original contribution.},
    identifier   = {05169341},
}