Recurrence, controllability, and stabilization of juggling

Kevin M. Lynch*, Craig K. Black

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

66 Scopus citations


This paper applies the idea of forced recurrence to demonstrate controllability and stabilizability of a single-input juggling system. Nonlinear optimization is used to find controls in a neighborhood of the recurrent controls that drive the system toward the goal trajectory. The approach is demonstrated on an experimental juggling system.

Original languageEnglish (US)
Pages (from-to)113-124
Number of pages12
JournalIEEE Transactions on Robotics and Automation
Issue number2
StatePublished - Apr 2001


  • Global controllability
  • Juggling
  • Nonlinear optimization
  • Recurrence
  • Robotic manipulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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