The inverse problem of the calculus of variations and the stabilization of controlled Lagrangian systems

We apply methods of the so-called `inverse problem of the calculus of variations' to the stabilization of an equilibrium of a class of two-dimensional controlled mechanical systems. The class is general enough to include, among others, the inverted pendulum on a cart and the inertia wheel pendulum. By making use of a condition that follows from Douglas' classification, we derive feedback controls for which the control system is variational. We then use the energy of a suitable controlled Lagrangian to provide a stability criterion for the equilibrium

A generalization of Szebehely's inverse problem of dynamics

The so-called inverse problem of dynamics is about constructing a potential for a given family of curves. We observe that there is a more general way of posing the problem by making use of ideas of another inverse problem, namely the inverse problem of the calculus of variations. We critically review and clarify different aspects of the current state of the art of the problem (mainly restricted to the case of planar curves), and then develop our more general approach.Comment: 21 pages, to appear in Rep. Math. Phy

A generalization of Szebehely's inverse problem of dynamics in dimension three

Extending a previous paper, we present a generalization in dimension 3 of the traditional Szebehely-type inverse problem. In that traditional setting, the data are curves determined as the intersection of two families of surfaces, and the problem is to find a potential V such that the Lagrangian L = T - V, where T is the standard Euclidean kinetic energy function, generates integral curves which include the given family of curves. Our more general way of posing the problem makes use of ideas of the inverse problem of the calculus of variations and essentially consists of allowing more general kinetic energy functions, with a metric which is still constant, but need not be the standard Euclidean one. In developing our generalization, we review and clarify different aspects of the existing literature on the problem and illustrate the relevance of the newly introduced additional freedom with many examples.Comment: 23 pages, to appear in Rep. Math. Phy

On the generalized Helmholtz conditions for Lagrangian systems with dissipative forces

In two recent papers necessary and sufficient conditions for a given system of second-order ordinary differential equations to be of Lagrangian form with additional dissipative forces were derived. We point out that these conditions are not independent and prove a stronger result accordingly.Comment: 10 pages, accepted for publ in Z. Angew. Math. Mech

Symmetry reduction, integrability and reconstruction in k-symplectic field theory

We investigate the reduction process of a k-symplectic field theory whose Lagrangian is invariant under a symmetry group. We give explicit coordinate expressions of the resulting reduced partial differential equations, the so-called Lagrange-Poincare field equations. We discuss two issues about reconstructing a solution from a given solution of the reduced equations. The first one is an interpretation of the integrability conditions, in terms of the curvatures of some connections. The second includes the introduction of the concept of a k-connection to provide a reconstruction method. We show that an invariant Lagrangian, under suitable regularity conditions, defines a `mechanical' k-connection.Comment: 37 page

Note on generalised connections and affine bundles

We develop an alternative view on the concept of connections over a vector bundle map, which consists of a horizontal lift procedure to a prolonged bundle. We further focus on prolongations to an affine bundle and introduce the concept of affineness of a generalised connection.Comment: 17 page

Time-dependent kinetic energy metrics for Lagrangians of electromagnetic type

We extend the results obtained in a previous paper about a class of Lagrangian systems which admit alternative kinetic energy metrics to second-order mechanical systems with explicit time-dependence. The main results are that a time-dependent alternative metric will have constant eigenvalues, and will give rise to a time-dependent coordinate transformation which partially decouples the system

A class of Finsler surfaces whose geodesics are circles

We determine all Finsler metrics of Randers type for which the Riemannian part is a scalar multiple of the Euclidean metric, on an open subset of the Euclidean plane, whose geodesics are circles. We show that the Riemannian part must be of constant Gaussian curvature, and that for every such Riemannian metric there is a class of Randers metrics satisfying the condition, determined up to the addition of a total derivative, depending on a single parameter. As one of several applications we exhibit a Finsler metric whose geodesics are the oriented horocycles in the Poincare disk, in each of the two possible orientations.Comment: 14 page

The inverse problem for invariant Lagrangians on a Lie group

We discuss the problem of the existence of a regular invariant Lagrangian for a given system of invariant second-order differential equations on a Lie group $G$, using approaches based on the Helmholtz conditions. Although we deal with the problem directly on $TG$, our main result relies on a reduction of the system on $TG$ to a system on the Lie algebra of $G$. We conclude with some illustrative examples.Comment: 31 page