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dc.contributor.authorLewis, Andrew D.
dc.contributor.authorMurray, Richard M.
dc.date21/11/1995en_US
dc.date.accessioned2004-11-01T21:07:22Z
dc.date.available2004-11-01T21:07:22Z
dc.date.created17/12/2001en_US
dc.date.issued1995
dc.identifier.citationSIAM Journal on Control and Optimization 35(3), pages 766-790, May 1997
dc.identifier.urihttp://hdl.handle.net/1974/37
dc.descriptionen_US
dc.description.abstractIn this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is also derived. This condition involves a new object which we call the symmetric product. Of particular interest is a definition of "equilibrium controllability" for which we are able to derive computable sufficient conditions. Examples illustrate the theory.en_US
dc.format.extent534112 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherSociety for Industrial and Applied Mathematics
dc.titleConfiguration controllability of simple mechanical control systemsen_US


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