Abstract
Euler-Newton's equations for a system of connected rigid bodies, written in a special state space form, provide a systematic method of arriving at the differential equations of the system. This method is amenable to programming and symbolic algebraic manipulation. The elimination of some or all forces of constraint is by projection, implementing the principle of virtual work, and is done by inner products. The computation of these forces requires symbolic inversion of a matrix for which an iterative scheme is proposed here. A method for construction of Lyapunov functions for stability of such systems in the vicinity of an arbitrary operating point is proposed. This construction may be achieved by symbolic manipulations and supplements applications of the Euler-Newton method.
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