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Article
From Nonlinear to Hamiltonian via Feedback
Departmental Papers (ESE)
  • Paulo Tabuada, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
Abstract
Mechanical control systems are an especially interesting and important class of nonlinear control systems. They possess a rich mathematical structure and yet, physical considerations reveal extremely important for the solution of a large class of control problems. In this note, we broaden the applicability of design methodologies developed for mechanical control systems by rendering nonlinear control systems, mechanical by a proper choice of feedback. In particular, we characterize which control systems can be transformed to Hamiltonian control systems by a feedback transformation.
Document Type
Journal Article
Date of this Version
8-1-2003
Comments
Copyright 2003 IEEE. Reprinted from IEEE Transactions on Automatic Control, Volume 48, Issue 8, August 2003, pages 1439-1442.
Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=27430&page=1

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Keywords
  • Hamiltonian systems,
  • nonlinear systems,
  • feedback transformation
Citation Information
Paulo Tabuada and George J Pappas. "From Nonlinear to Hamiltonian via Feedback" (2003)
Available at: http://works.bepress.com/george_pappas/120/