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On nonlinear controllability and series expansions for Lagrangian systems with damping
J. Cortés, S. Martínez, F. Bullo
Proceedings of the 40th IEEE Int. Conf. Decision and Control, Orlando, USA, 2001, pp. 2619-2624

Abstract

This note presents series expansions and nonlinear controllability results for Lagrangian systems subject to dissipative forces. The treatment relies on the assumption of dissipative forces of linear isotropic nature. The approach is based on the affine connection formalism for Lagrangian control systems, and on the homogeneity property of all relevant vector fields.

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