Mechanical Nonlinear Control Systems

  • Henk Nijmeijer
  • Arjan van der Schaft


In the present chapter we focus on a special subclass of nonlinear control systems, which can be called mechanical nonlinear control systems. Roughly speaking these are control systems whose dynamics can be described by the Euler-Lagrangian or Hamiltonian equations of motion. It is well-known that a large class of physical systems admits, at least partially, a representation by these equations, which lie at the heart of the theoretical framework of physics.


Hamiltonian System Poisson Bracket Poisson Structure Poisson Manifold Observation Space 
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Copyright information

© Springer Science+Business Media New York 1990, Corrected printing 2016 1990

Authors and Affiliations

  1. 1.Dynamics and Control GroupEindhoven University of TechnologyEindhovenThe Netherlands
  2. 2.Johann Bernoulli Institute for Mathematics and Computer ScienceUniversity of GroningenGroningenThe Netherlands

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