Drücker, SvenjaSvenjaDrückerLanza, LukasLukasLanzaBerger, ThomasThomasBergerReis, TimoTimoReisSeifried, RobertRobertSeifried2024-04-112024-04-112024-01-01Multibody System Dynamics (in Press): (2024)https://hdl.handle.net/11420/46909Current engineering design trends, such as lightweight machines and human–machine interaction, often lead to underactuated systems. Output trajectory tracking of such systems is a challenging control problem. Here, we use a two-design-degree of freedom control approach by combining funnel feedback control with feedforward control based on servo-constraints. We present experimental results to verify the approach and demonstrate that the addition of a feedforward controller mitigates drawbacks of the funnel controller. We also present new experimental results for the real-time implementation of a feedforward controller based on servo-constraints on a minimum phase system.en1573-272X2024Springer Science + Business Media B.VFunnel controlMultibody systemsServo-constraintsUnderactuationEngineering and Applied OperationsMathematicsJournal Article10.1007/s11044-024-09976-2Journal Article