Control of Underactuated Mechanical Systems: Stabilization and Limit Cycle Generation Clearly and simply explains stabilization and stable limit cycle generation in the field of underactuated mechanical systems (UMS). It explores control design challenges and demonstrates concepts through real-time experiments. This book is organized into three parts: • Part I: General context and case study • Part II: Control solutions for the stabilization problem • Part III: Control solutions for stable limit cycle generation The first part of this book introduces the state of the art related to underactuated mechanical systems, including some examples of systems reported in the literature, it will introduce the reader to the concept of stabilization and limit cycle generation. Then it focuses on the description of the inertia wheel inverted pendulum. The second part is devoted to the problem of stabilization; where various control solutions are presented and discussed, as well as their validation through numerical simulations and real-time experiments. The final part addresses the problem of stable limit cycle generation, where three proposed control solutions are detailed, as well as their related validation through different case studies.