Titlebook: Services – SERVICES 2019; 15th World Congress, Yunni Xia,Liang-Jie Zhang Conference proceedings 2019 Springer Nature Switzerland AG 2019 ar

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Speed-Gradient Method and Partial Stabilization,died. In case the goal function is not positive definite, the method allows us to achieve partial stabilization of the system: approaching the goal surface. The special cases of Lagrangian and Hamiltonian description of the controlled plant, which are important for control of mechanical systems, are considered separately.