Quadratic Lyapunov Functions for Mechanical Systems

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Technical Reports (ESE)
Kod*lab
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Electrical and Computer Engineering
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Systems Engineering
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Koditschek, Daniel E
Koditschek, Daniel
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The “mechanical systems” define a large and important class of highly nonlinear dynamical equations which, for example, encompasses all robots. In this report it is shown that a strict Lyapunov Function suggested by the simplest examplar of the class - a one degree of freedom linear time invariant dynamical system - may be generalized over the entire class. The report lists a number of standard but useful consequences of this discovery. The analysis suggests that the input-output properties of the entire class of nonlinear systems share many characteristics in common with those of a second order, phase canonical, linear time invariant differential equation. For more information: Kod*Lab

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1987-03-01
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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.
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@inproceedings{kod-yale-1987-1, title = {Quadratic Lyapunov Functions for Mechanical Systems.}, author = {D.E. Koditschek}, booktitle = {Center for Systems Science, Yale University}, year = {1987}, month = {March}, }
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