Configuration observability of simple mechanical systems

First the property of codistribution of simple mechanical control system is studied by using differential geometric theory of nonlinear control systems through accounting the Lie derivative of the output function of simple mechanical systems along the vectors of systems and input vectors. And then the concept of configuration observability of simple mechanical control system is introduced. At last the conditions that configuration observability of simple mechanical systems are given. At the same time the relation between observability and configuration observability is discussed. And the equivalent of observability and configuration observability of simple mechanical control systems is proved.