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Moreover, we apply the proposed solution to two kinds of typical underactuated systems, that is 1) tower cranes and 2) double-pendulum cranes, and implement a few hardware experiments to verify its effectiveness and robustness.This article views the issue of regular event-triggered control design for dual-rate networked control systems subject to nonvanishing disruption. The plant considered in this specific article is a type of dual-rate networked control system, where
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