Departmental Papers (ESE)


A novel Lyapunov function is introduced. The author treats the PD compensated mechanical system, which is defined on a configuration space which admits a trivial tangent bundle. Previous results are derived in a simpler form, namely, that such systems are exponentially stable, hence BIBO stable, and steady-state ouptut magnitudes are proportional to input magnitudes with a constant of proportionality depending in a simple fashion on the PD gain magnitudes.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

Proceedings of the 1988 American Control Conference

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Copyright 1988 IEEE. Reprinted from Proceedings of the 1988 American Control Conference, pages 1770-1775.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated
with Yale University. Currently, he is a faculty member in the Department of
Electrical and Systems Engineering at the University of Pennsylvania.

Bib Tex

@inproceedings{ koditschek-acc-1988, author = {D.E. Zoditschek}, title = {Strict Global Lyapunov Functions for Mechanical Systems}, booktitle ={Proceedings of the 7th American Control Conference}, year = {1988}, month = {June}, location = {Atlanta, GA}, pages = {1770-1775}, }



Date Posted: 25 July 2014

This document has been peer reviewed.