The equivalence of controlled Lagrangian and controlled Hamiltonian systems

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The purpose of this paper is to show that the method of controlled Lagrangians and its Hamiltonian counterpart (based on the notion of passivity) are equivalent under rather general hypotheses. We study the particular case of simple mechanical control systems (where the underlying Lagrangian is kinetic minus potential energy) subject to controls and external forces in some detail. The equivalence makes use of almost Poisson structures (Poisson brackets that may fail to satisfy the Jacobi identity) on the Hamiltonian side, which is the Hamiltonian counterpart of a class of gyroscopic forces on the Lagrangian side.
Publisher
EDP SCIENCES S A
Issue Date
2002-06
Language
English
Article Type
Article
Keywords

MECHANICAL SYSTEMS; STABILIZATION; DYNAMICS

Citation

ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS, v.8, pp.393 - 422

ISSN
1292-8119
DOI
10.1051/cocv:2002045
URI
http://hdl.handle.net/10203/220735
Appears in Collection
EE-Journal Papers(저널논문)
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