Journal
SYSTEMS & CONTROL LETTERS
Volume 56, Issue 5, Pages 349-356Publisher
ELSEVIER
DOI: 10.1016/j.sysconle.2006.10.015
Keywords
mechanical systems; Hamiltonian mechanics; Brayton-Moser equations
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This paper is concerned with the construction of a power-based modeling framework for mechanical systems. Mathematically, this is formalized by proving that every standard mechanical system (with or without dissipation) can be written as a gradient vector field with respect to an indefinite metric. The form and existence of the corresponding potential function is shown to be the mechanical analog of Brayton and Moser's mixed-potential function as originally derived for nonlinear electrical networks in the early sixties. In this way, several recently proposed analysis and control methods that use the mixed-potential function as a starting point can also be applied to mechanical systems. (C) 2006 Elsevier B.V. All rights reserved.
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