This paper presents a Lyapunov-type inequality for the second order nonlinear equation (r(x)y')' + p(x)f(y(x)) = 0, with r(x), p(x) > 0 and f(y) odd and positive for y > O. It also compares it with similar results. (C) ...

[EN] Robustness of the well-known computed-torque technique is twofold improved in this paper: on the one hand, the inner-loop control law is made exclusively dependent on user-generated signals whose accuracy is no longer ...