# Lecture 06 : Model Underactuated Systems - II

###### tags: `MIT 6.832` `Underactuated Robotics` `Optimal Controls`

These are my paper notes of Lecture 6 of the course MIT 6.832 (Underactuated Robotics) of 2019

**Youtube Channel :** [6.832 Underactuated Robotics](https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg/)
**Textbook :** [website](http://underactuated.csail.mit.edu/)
**Lecture :** [video](https://youtu.be/T-aON2JHajs)

# Table of Contents

[TOC]

## Topics covered

* Stability of Damped Pendulum
* Lyapunov Functions
* Global Asymptotic Stability
* Local Stability
* Regional Stability
* Swing up for pendulum
* Cartpole and Acrobot

## Notes