Equations of motion of mechanical systems under servo constraints: The Maggi approach
A mechanical system is driven by a set of servo controls. The motion of the system is subject to a set of constraints at any time. The controls are the only means to realize the constraints. This is the essence of the servo constraint problem, which is rarely studied in Analytical Mechanics. We propose to adopt the Maggi approach to systematically analyze the problem and synthesize the controls. (c) 2007 Elsevier Ltd. All rights reserved.
maggi approach lagrangian mechanics modeling motion control