# Two-scale command shaping for feedforward control of nonlinear systems

> Research article (Nonlinear Dynamics, 2018) · cited 12× · AI/ML

**Wikidata**: [openalex:W2791801611](https://www.wikidata.org/wiki/openalex:W2791801611)  
**Source**: https://4ort.xyz/entity/two-scale-command-shaping-for-feedforward-control-of-nonlinear-systems