---
# System prepended metadata

title: 'Lecture 07 : Model Underactuated Systems - III'
tags: [Underactuated Robotics, Optimal Controls, MIT 6.832]

---

# 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

![](https://i.imgur.com/FdSsO9o.jpg)
![](https://i.imgur.com/gIiYtFy.jpg)
![](https://i.imgur.com/AlgIdLh.jpg)
![](https://i.imgur.com/y9MME9P.jpg)
