# Lecture 07 : Model Underactuated Systems - III

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

These are my paper notes of Lecture 7 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/h5Po8WSaQcE)

# Table of Contents

[TOC]

## Topics covered

* Cartpole
* Collocated vs Non-collocated Control
* Task-space
* Energy shaping
* Differential Flatness

## Notes