Title :
Decomposition of Lagrangian systems on the base of the technical controllability concept
Author :
Rutkovsky, V.Yu. ; Zemlyakov, S.D.
Author_Institution :
Inst. of Control Sci., Moscow, Russia
Abstract :
Consideration is given to control of the plant obeying Lagrange equations under bounded control actions. The notion of autonomous technical controllability of the plant is established and used to prove that the mathematical model of plant motion can be decomposed into individual subsystems.
Keywords :
controllability; mathematical analysis; modelling; reduced order systems; Lagrangian system; individual subsystem; mathematical model; plant control; plant motion; technical controllability concept; Control systems; Controllability; Electromechanical systems; Force control; Kinetic energy; Lagrangian functions; Motion control; Nonlinear equations; Relays; Robots;
Conference_Titel :
Physics and Control, 2003. Proceedings. 2003 International Conference
Print_ISBN :
0-7803-7939-X
DOI :
10.1109/PHYCON.2003.1237085
