Titlebook: Geometric Control of Mechanical Systems; Modeling, Analysis, Francesco Bullo,Andrew D. Lewis Textbook 2005 Springer-Verlag New York 2005 g

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Soviet Policy for the Gulf Arab States,ils. In this chapter, we begin the presentation of the material that can be considered the core of the book. The aim in this chapter is to provide the methodology for going from a physical problem to a mathematical model. What is more, the mathematical model we consider uses the tools described in C

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Clinton L. Beckford,Donovan R. Campbellg disciplines. In his classic work, Lagrange [1788] investigated the stability of mechanical systems at local minima of the potential function using energy arguments. In a work widely recognized to be one of the first on control theory, Maxwell [1868] analyzed the stability of certain mechanical gov

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Julia Tolmie,Denise Wilson,Rachel Smithol-affine example), even these very general results can fail to provide complete characterizations of the controllability of a system, even in rather simple examples. In this chapter we provide low-order controllability results that are quite sharp. These are extensions of results initially due of H

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l signals: periodic, large-amplitude, high-frequency signals, which we refer to as oscillatory; and small-amplitude signals. For both classes of signals, we perform a perturbation analysis that predicts, with some specified level of accuracy, the behavior of the resulting forced affine connection sy

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Rebecca Barnes,Catherine Donovanctive is to exploit the averaging analysis obtained in Chapter 9 for the purpose of control design. In particular, we shall present results on stabilization and tracking that are applicable to systems that are not linearly controllable. As in the perturbation analysis in Chapter 9, we shall consider

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