Title :
Implicit Lagrangian equations and the mathematical modeling of physical systems
Author :
Moreau, Luc ; Van Der Schaft, Arjan J.
Author_Institution :
SYSTeMS, Ghent Univ., Belgium
Abstract :
We introduce a class of optimal control problems on manifolds which gives rise (via the Pontryagin maximum principle) to a class of implicit Lagrangian systems (a notion which is introduced in the paper). We apply this to the mathematical modeling of interconnected mechanical systems and mechanical systems with singularities.
Keywords :
dynamics; interconnected systems; maximum principle; Dirac structures; Hamiltonian dynamics; Lagrangian dynamics; Pontryagin maximum principle; implicit Lagrangian equations; interconnected mechanical systems; manifolds; mathematical modeling; physical systems; singularities; Capacitors; Control systems; Control theory; Equations; Integrated circuit interconnections; Lagrangian functions; Mathematical model; Mechanical systems; Power engineering and energy; Systems engineering and theory;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184757
