@inproceedings{f4eca75053a140d5b49bb89316ae9052,
title = "Physical dissipation and the method of controlled Lagrangians",
abstract = "We describe the effect of physical dissipation on stability of equilibria which have been stabilized, in the absence of damping, using the method of controlled Lagrangians. This method applies to a class of underactuated mechanical systems including 'balance' systems such as the pendulum on a cart. Since the method involves modifying a system's kinetic energy metric through feedback, the effect of dissipation is obscured. In particular, it is not generally true that damping makes a feedback-stabilized equilibrium asymptotically stable. Damping in the unactuated directions does tend to enhance stability, however damping in the controlled directions must be 'reversed' through feedback. In this paper, we suggest a choice of feedback dissipation to locally exponentially stabilize a class of controlled Lagrangian systems.",
keywords = "Dissipative and Energy-based Design, Stabilization of Non-linear Systems",
author = "Woolsey, {C. A.} and Bloch, {A. M.} and Leonard, {N. E.} and Marsden, {J. E.}",
note = "Publisher Copyright: {\textcopyright} 2001 EUCA.; 6th European Control Conference, ECC 2001 ; Conference date: 04-09-2001 Through 07-09-2001",
year = "2001",
doi = "10.23919/ecc.2001.7076315",
language = "English (US)",
series = "2001 European Control Conference, ECC 2001",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2570--2575",
booktitle = "2001 European Control Conference, ECC 2001",
address = "United States",
}