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Strict Global Lyapunov Functions for Mechanical Systems

American Control Conference, 1988

D. E. Koditschek
Yale University
Full PDF | Penn Scholarly Commons

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.
BibTeX entry
@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},

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