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Furthermore, we apply the proposed method to two kinds of typical underactuated systems, that is 1) tower cranes and 2) double-pendulum cranes, and implement a series of hardware experiments to verify its effectiveness and robustness.This article considers the problem of periodic event-triggered control design for dual-rate networked control systems subject to nonvanishing disturbance. The plant considered in this article is a kind of dual-rate networked control system, where the sensor samples the measurement output at a slow rate and the
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