A Lyapunov function for the Energy-Casimir method

Provides a tutorial exposition for the Energy-Casimir method and constructs a Lyapunov function to prove stability for systems having at least two integrals of motion. Stabilization of the intermediate axis rotation of an asymmetric rigid spacecraft by applying input torque along the minor or major axis is reconsidered. For the axially symmetric spacecraft, the authors construct a linear torque applied at the symmetry axis which Lyapunov stabilizes rotation about a transverse principal axis