New Directions in the Control of Nonlinear Mechanical Systems

  • Firdaus E. Udwadia
  • Robert E. Kalaba


The newly developed equations of motion for constrained mechanical systems are used as a means for the explicit determination of the control forces needed to cause mechanical systems to satisfy given constraints, such as motion along a given curve in phase space. Two simple examples are described utilizing this new approach to the control of nonlinear mechanical systems.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Udwadia F. E. and R. E. Kalaba, “A New Perspective on Constrained Motion, ” Proceedings of the Royal Society of London vol. 439, pp. 407–410, 1992.MathSciNetzbMATHCrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media New York 1994

Authors and Affiliations

  • Firdaus E. Udwadia
    • 1
  • Robert E. Kalaba
    • 2
  1. 1.Professor of Mechanical and Civil Engineering & Decision SystemsUniversity of Southern CaliforniaLos AngelesUSA
  2. 2.Professor of Biomedical and Electrical Engineering & EconomicsUniversity of Southern CaliforniaLos AngelesUSA

Personalised recommendations