MATCHING OF EULER-LAGRANGE AND HAMILTONIAN SYSTEMS

Authors :: Blankenstein, G.
Ortega, R.
van der Schaft, Arjan
Camacho, E.F.
Basañez, L.
de la Puente, J.A.
Source :: Proceedings of the 15th IFAC World Congress, 2002, Proceedings of the 15th IFAC World Congress, 981-986, STARTPAGE=981;ENDPAGE=986;TITLE=Proceedings of the 15th IFAC World Congress, University of Groningen
Publication Year :: 2002
Publisher :: Elsevier BV, 2002.
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.