Jeltsema, D.

Scherpen, J. M. A.

English

This paper is concerned with the construction of a power-based modeling framework for a large class of mechanical systems. Mathematically this is formalized by proving that every standard mechanical system (with or without dissipation) can be written as a gradient vector field with respect to an indefinite metric. The form and existence of the corresponding potential function is shown to be the mechanical analogue of Brayton and Moser's mixed-potential function as originally derived for nonlinear electrical networks in the early sixties. In this way, several recently proposed analysis and control methods that use the mixed-potential function as a starting point can also be applied to mechanical systems

ARTS repository - University of Groningen

A power-based perspective of mechanical systems

https://pure.rug.nl/ws/files/2942463/2005_IEEECDC_Jeltsema.pdf

A power-based perspective of mechanical systems

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ARTS repository - University of Groningen