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- W2617180135 abstract "A new expression of the first law of thermodynamics is obtained for nonholonomic lumped-parameter systelus. The input power due to the constraints is expressed in the framework of Lagrangian differential algebraic equations using Lagrange multipliers. General procedures to prove the stability of autonomous systems and to design control laws for them using the method of Lyapunov are then outlined and discussed. The approach in based on (a) postulating a Lyapunov function candidate consisting of the total energy stored in the systelll (expressed in terms of momenta not flows) auglnented by a sinlple positive definite function of the displacements, (b) cOlnputing its tilne-derivative using the first law of thermodynaluics, and (c) designing control laws as to make the tinle-rate of the candidate function negative definite. The procedure is applicable to systems where the control actuation appears through effort sources (such as voltage sources and applied forces), or flow sources (such as current or velocity sources)." @default.
- W2617180135 created "2017-06-05" @default.
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- W2617180135 date "2000-03-01" @default.
- W2617180135 modified "2023-09-26" @default.
- W2617180135 title "An Energy-Based Lyapunov Function for Physical Systems" @default.
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- W2617180135 doi "https://doi.org/10.1016/s1474-6670(17)35551-9" @default.
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