Non-Holonomic Stability Aspects of Piecewise-Holonomic Systems

  title={Non-Holonomic Stability Aspects of Piecewise-Holonomic Systems},
  author={Andy Ruina},
We consider mechanical systems with intermittent contact that are smooth and holonomic except at the instants of transition. Overall such systems can be nonholonomic in that the accessible configuration space can have larger dimension than the instantaneous motions allowed by the constraints. The known examples of such mechanical systems are also dissipative. By virtue of their non-holonomy and of their dissipation such systems are not Hamiltonian. Thus there is no reason to expect them to… CONTINUE READING


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