The goal of this book is to explore some of the connections between
control theory and geometric mechanics; that is, control theory is
linked with a geometric view of classical mechanics in both its
Lagrangian and Hamiltonian formulations and in particular with the
theory of mechanical systems subject to motion constraints. The
synthesis of topics is appropriate as there is a particularly rich
connection between mechanics and nonlinear control theory. The aim
is to provide a unified treatment of nonlinear control theory and
constrained mechanical systems that incorporates material that has
not yet made its way into texts and monographs.This book is
intended for graduate students who wish to learn this subject and
researchers in the area who want to enhance their techniques.
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