Nonholonomic Mechanics and Control

  • A. M. Bloch

Part of the Interdisciplinary Applied Mathematics book series (IAM, volume 24)

Table of contents

  1. Front Matter
    Pages i-xix
  2. A. M. Bloch
    Pages 1-48
  3. A. M. Bloch
    Pages 49-118
  4. A. M. Bloch
    Pages 119-174
  5. A. M. Bloch
    Pages 207-276
  6. A. M. Bloch
    Pages 329-366
  7. A. M. Bloch
    Pages 367-397
  8. Back Matter
    Pages 439-484

About this book


Nonholonomic Mechanics and Control develops the rich connections between control theory and geometric mechanics. Control theory is linked with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations and especially with the theory of nonholonomic mechanics (mechanical systems subject to motion constraints). Both controllability and optimal control are treated, including the Pontryagin maximum principle. In addition, the stability, control, and stabilization of mechanical systems are discussed. In particular, these items are considered for nonholonomic systems. The aim of the book is to provide a unified treatment of nonlinear control theory and constrained mechanical systems, incorporating material that has not yet made its way into texts and monographs. Detailed illustrations and exercises are included throughout the text.

This book is intended for graduate and advance undergraduate students in mathematics, physics and engineering who wish to learn this subject and for researchers in the area who want to enhance their techniques.


Optimal control control control theory mechanics nonlinear control stability stabilization

Authors and affiliations

  • A. M. Bloch
    • 1
  1. 1.Deparment of MathematicsUniversity of MichiganAnn ArborUSA

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media New York 2003
  • Publisher Name Springer, New York, NY
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-4419-3043-9
  • Online ISBN 978-0-387-21644-7
  • Series Print ISSN 0939-6047
  • Series Online ISSN 2196-9973
  • Buy this book on publisher's site