Geometric Control of Mechanical Systems

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Tudor Ratiu

The papers in this volume are an outgrowth of some of the lectures and informal discussions that took place during the workshop on the geometry of Hamiltonian systems, held at the MSRI in Berkeley in June of 1989. The emphasis of all the talks was on Hamiltonian dynamics and its relationship to several aspects of symplectic geometry and topology, mechanics, numerical simulations and dynamical systems in general. The articles are of differing lengths and scopes; some are research announcements while others are surveys of particularly active areas of interest where the results can only be found in scattered research articles and preprints. In- cluded in the book is A.T. Fomenko's survey of the classification of integrable systems.

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Fritz Colonius, Wolfgang Kliemann

The Dynamics of Control provides a carefully integrated development of the mathematical connections between nonlinear control, dynamical systems, and time-varying perturbed systems for scientists and engineers. The central theme is the notion of control flow with its global dynamics and linearization presented in detail. The book's scope is comprehensive and includes global theory of dynamical systems under time-varying perturbations, global and local dynamics of control systems, connections between control systems and dynamical systems and the relevant numerical methods for global dynamics, linearization, and stability. Topics are developed with a diverse and extensive selection of applied problems from control and dynamical systems. Topics and Features: * complete coverage of unified theory of control flows * wide array of motivating problems from control and dynamical systems to appeal to mathematicians, scientists, and engineers * relevant motivation and a listing of important definitions and results at the beginning of each chapter * a compilation of essential background information in four appendices: nonlinear geometric control, topological theory of dynamical systems, computations of reachable sets, and numerical solution of Hamilton-Jacobi-Belman equations * discussion of numerical methods This new text and self-study reference guide is an excellent resource for the foundations and applications of control theory and nonlinear dynamics. All graduates, practitioners, and professionals in control theory, dynamical systems, perturbation theory, engineering, physics, and nonlinear dynamics will find the book a rich source of ideas, methods, and applications.

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Mikio Nakahara

"Geometry, Topology and Physics is an ideal introduction to differential geometry and topology for postgraduate students and researchers in theoretical and mathematical physics."--Jacket.

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Michèle Audin, Ana Cannas da Silva, Eugene Lerman

Among all the Hamiltonian systems, the integrable ones have special geometric properties; in particular, their solutions are very regular and quasi-periodic. The quasi-periodicity of the solutions of an integrable system is a result of the fact that the system is invariant under a (semi-global) torus action. It is thus natural to investigate the symplectic manifolds that can be endowed with a (global) torus action. This leads to symplectic toric manifolds (Part B of this book). Physics makes a surprising come-back in Part A: to describe Mirror Symmetry, one looks for a special kind of Lagrangian submanifolds and integrable systems, the special Lagrangians. Furthermore, integrable Hamiltonian systems on punctured cotangent bundles are a starting point for the study of contact toric manifolds (Part C of this book).