Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Matched disturbance rejection for energy-shaping controlled
  underactuated mechanical systems   In this paper, we present a method of applying integral action to enhance the
robustness of energy shaping controllers for underactuated mechanical systems
with matched disturbances. Previous works on this problem have required a
number of technical assumptions to be satisfied, restricting the class of
systems for which the proposed solution applies. The design proposed in this
paper relaxes some of these technical assumptions.

27
The categories of this paper are: comp-gas
11
The categories of this paper are: hep-lat
31
The categories of this paper are: ao-sci
9
The categories of this paper are: nlin
0
The categories of this paper are: hep-ph
15
The categories of this paper are: nucl-ex
36
The categories of this paper are: cmp-lg
2
The categories of this paper are: math
35
The categories of this paper are: mtrl-th
18
The categories of this paper are: econ
33
The categories of this paper are: plasm-ph
29
The categories of this paper are: funct-an
17
The categories of this paper are: q-fin
8
The categories of this paper are: hep-ex
12
The categories of this paper are: nucl-th
22
The categories of this paper are: chao-dyn