Matching of Euler-Lagrange and Hamiltonian systems


Blankenstein, G. and Ortega, R. and Schaft, A.J. van der (2002) Matching of Euler-Lagrange and Hamiltonian systems. In: 15th IFAC World Congress, 21-26 July 2002, Barcelona, Spain (pp. pp. 981-986).

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Abstract:This paper discusses the matching conditions as introduced in two recently developed methods for stabilization of underactuated mechanical systems. It is shown that the controlled Lagrangians method is naturally embedded in the IDA-PBC method. The integrability of the latter method is studied in general.
Item Type:Conference or Workshop Item
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Metis ID: 211003