Departmental Papers (ESE)


Mechanical control systems are a very important class of nonlinear control systems. They possess a rich mathematical structure which can be extremely important for the solution of various control problems. In this paper, we expand the applicability of design methodologies developed for mechanical control systems by locally rendering nonlinear control systems, mechanical by a proper choice of feedback. In particular, we characterize control systems which can be transformed to Hamiltonian control systems by a local feedback transformation.

Document Type

Conference Paper

Subject Area


Date of this Version

December 2002


Copyright 2002 IEEE. Reprinted from Proceedings of the 41st IEEE Conference on Decision and Control 2002, Volume 2, pages 1515-1520.

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Date Posted: 04 August 2005