This paper discussed the stabilization and position tracking control of the linear motion of an underactuated spherical robot. By considering the actuator dynamics. a complete dynamic model of the robot is deduced. which is a complex third order. https://www.spidertattooz.com/Metabo-HPT-NT1865DMASTM-18V-MV-15-Gauge-Brushless-Cordless-Angled-Finish-Nailer/