This book explores connections between control theory and geometric
mechanics. The author links control theory 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 is appropriate
as there is a rich connection between mechanics and nonlinear
control theory. The book provides a unified treatment of nonlinear
control theory and constrained mechanical systems that incorporates
material not available in other recent texts. The book benefits
graduate students and researchers in the area who want to enhance
their understanding and enhance their techniques.
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