Configuration space, generalized coordinates, Euler-Lagrange equations. Forces: dissipative, potential. Simple mechanical control systems: modeling, linearization about equilibrium points, linear controllability tests; equivalence with kinematic systems and trajectory generation. (Offered jointly with MATH 439). Three term hours, fall or winter; lectures.
Configuration space, generalized coordinates, Euler-Lagrange equations. Forces: dissipative, potential. Simple mechanical control systems: modeling, linearization about equilibrium points, linear controllability tests; equivalence with kinematic systems and trajectory generation. (Offered jointly with MATH 439). Three term hours, fall or winter; lectures.
