# Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems

> Research article (Journal of Mechanisms and Robotics, 2022) · cited 15× · AI/ML

**Wikidata**: [openalex:W4311852508](https://www.wikidata.org/wiki/openalex:W4311852508)  
**Source**: https://4ort.xyz/entity/stable-inverse-dynamics-for-feedforward-control-of-nonminimum-phase-underactuated-systems