A power-based description of standard mechanical systems

  title={A power-based description of standard mechanical systems},
  author={Dimitri Jeltsema and Jacquelien M. A. Scherpen},
  journal={Systems & Control Letters},
This paper is concerned with the construction of a power-based modeling framework for mechanical systems. Mathematically, this is formalized by proving that every standard mechanical system (with or without dissipation) can be written as a gradient vector field with respect to an indefinite metric. The form and existence of the corresponding potential function is shown to be the mechanical analog of Brayton and Moser’s mixed-potential function as originally derived for nonlinear electrical… CONTINUE READING
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