Matching of Euler-Lagrange and Hamiltonian systems

G. Blankenstein, R. Ortega, Arjan van der Schaft

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    4 Citations (Scopus)
    26 Downloads (Pure)

    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.
    Original languageUndefined
    Title of host publicationProceedings of the 15th IFAC World Congress
    EditorsE.F. Camacho, L. Basañez, J.A. de la Puente
    Place of PublicationOxford, UK
    PublisherPergamon
    Pages981-986
    Number of pages6
    ISBN (Print)9780080441849
    DOIs
    Publication statusPublished - 2002
    Event15th IFAC World Congress 2002 - Barcelona, Spain
    Duration: 21 Jul 200226 Jul 2002
    Conference number: 15
    http://folk.ntnu.no/skoge/prost/proceedings/ifac2002/home.htm

    Publication series

    Name
    PublisherIFAC
    Volume15

    Conference

    Conference15th IFAC World Congress 2002
    CountrySpain
    CityBarcelona
    Period21/07/0226/07/02
    Internet address

    Keywords

    • IR-69117
    • METIS-211003
    • Euler-Lagrange systems
    • Stabilization
    • Underactuated mechanical systems
    • EWI-16724
    • Hamiltonian systems

    Cite this