Departmental Papers (ESE)


Mechanical control systems are an especially interesting and important class of nonlinear control systems. They possess a rich mathematical structure and yet, physical considerations reveal extremely important for the solution of a large class of control problems. In this note, we broaden the applicability of design methodologies developed for mechanical control systems by rendering nonlinear control systems, mechanical by a proper choice of feedback. In particular, we characterize which control systems can be transformed to Hamiltonian control systems by a feedback transformation.

Document Type

Journal Article

Subject Area


Date of this Version

August 2003


Copyright 2003 IEEE. Reprinted from IEEE Transactions on Automatic Control, Volume 48, Issue 8, August 2003, pages 1439-1442.
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Hamiltonian systems, nonlinear systems, feedback transformation



Date Posted: 09 November 2004

This document has been peer reviewed.