In proceedings IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Princeton, March 2000.
Lagrangian DAEs: a starting point for applications in control
Richard A. Layton and Marwan U. Bikdash

This paper presents the status of our effort to reformulate the basic tools and algorithms of dynamic systems and control in terms of energy, work, and constraints using Lagrangian differential-algebraic equations (DAEs). We review the physical basis of Lagrangian DAEs and illustrate their application in modeling, simulation, and linear analysis. Our purpose is to show that this approach provides a promising starting point for applications in control in general.

©2000 International Federation of Automatic Control

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Richard A. Layton
Last modified: 15 Jul 02