[IEEE 2018 IEEE Conference on Decision and Control (CDC) - Miami Beach, FL (2018.12.17-2018.12.19)] 2018 IEEE Conference on Decision and Control (CDC) - Nonlinear $\mathcal{H}_{2}$ and $\mathcal{H}_{\infty}$ control formulated in the Weighted Sobolev space for underactuated mechanical systems with input coupling

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