Abstract
There are three methods to describe the equation of motion for mechanical system: Newtonian mechanics, Lagrangian one and Hamiltonian one. Newtonian mechanics has been used for simple mechanical systems because it is an intuitive and non-systematic method. On the contrary, Lagrangian and Hamiltonian ones can be used for complex multi-body mechanical systems because they are systematic approaches. In this chapter, either Lagrangian or Hamiltonian mechanics is used as a representation for motion of mechanical systems.
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© 2004 Springer-Verlag Berlin/Heidelberg
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Choi, Y., Chung, W.K. (2004). 2 Robust and Optimal Control for Mechanical Systems. In: Choi, Y., Chung, W.K. (eds) PID Trajectory Tracking Control for Mechanical Systems. Lecture Notes in Control and Information Science, vol 298. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-40041-7_2
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DOI: https://doi.org/10.1007/978-3-540-40041-7_2
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Online ISBN: 978-3-540-40041-7
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